Ok First of all make sure you have this options enabled in your /etc/ssh/sshd_config
RSAAuthentication yes
PubKeyAuthentication yes
AuthorizedKeysFlle %h/.ssh/authorized_keys
Second, in order to copy the key from ServerA(where you generated the key) to ServerB(where you want to log in) use the following command:
ssh-copy-id your_username@your_serverB_Ip
If by any chance ServerA doesnt have ssh-copy-id command, in ServerA copy the first line of your key WITHOUT the last 2 characters, then paste it in the ServerB Authorized_Keys file. After that type yourself the missing characters from the line you just copied and the first one from line 2, this will prevent adding a "new line" between the first and second line of the key while pasting it from ServerA to ServerB. Repeat with the 3rd line