How would I go about doing this on the terminal?
sftp then asks me for a password. how do I include my DSA key so that I do not have to use the password?
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As
sftpuses SSH protocol for communication, you may generate private/public key pair using ssh-keygen (read everything their!). Then read this HOWTO about how to transfer your key to remote server. If you need more, read more detailed description of OpenSSH Public Key Authentication.If you setup your key correctly, and remove SSH server is configured to use key authentication, you will be granted the access without additional password.