openssh unix dev - Aug 2002 - First time user: set up ssh/scp without having password entered.

SSH wizards, I hope you all can helps!

I have two Unix Solaris (2.8 version) machines A and B installed SSH (A has
OpenSSH_3.2.3p1 and B has OpenSSH_3.1p1), I am trying to set up running scp
in both directions between A and B without having to enter password.