In this example, we will setup a SSH server on Termux (for Android) and connect to the server from Ubuntu desktop. However, a similar procedure should work with any SSH server.
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Generate your ssh key pair on your desktop
$ ssh-keygen -
Check your desktop IP address (say, 192.168.0.100)
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Run ssh server on your desktop
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Copy the file to Termux over SCP
$ scp [email protected]:~/.ssh/id_rsa.pub ~/.ssh/authorized_keys