You mean how to generate passphrase-less keys?
Just do ssh-keygen -b 1024 -t dsa -f your.key.name
on the source machine. The last argument is optional. It defaults to ~/.ssh/id_dsa. This will produce a public/private pair of 1024 bit keys that are saved to the file your.key.name.pub and you.key.name respectively. When it prompts you to enter a passphrase just hit return twice.
Other possible values to the -t switch are rsa1 ans rsa. Frankly I don't know much about the diffenrences.
Then append the public key to the ~/.ssh/authorized_keys file on the target machine (create the file if it's not there already and change the permission to 600 to be secure). Use the user's home dir that you will be logging in as
Then copying from source to target machine is done like so:
scp -i /path/to/you.key.name path/to/source/file user@machine:/path/to/target/file
Again, the -i is optional and defaults to ~/.ssh/id_dsa
As for docs on the subject. I think linux journal is running a series on ssh at the moment. You might want to check that out.