Create new Private and Public key on Host machine (Ex.macOS) $ssh-keygen -t rsa # Enter location and file name like (/Users/pjadda/.ssh/minishift_rsa), do not use default files #Passphrase is optional Create .ssh folder in Guest OS even if it exists $ssh docker@192.168.64.3 mkdir -p .ssh Finally append a's new public key to docker@192.168.64.3:.ssh/authorized_keys $cat .ssh/minishift_rsa.pub | ssh docker@192.168.64.3 'cat >> .ssh/authorized_keys' Set permissions on Guest machine (192.168.64.3) $ssh docker@192.168.64.3 "chmod 700 .ssh; chmod 640 .ssh/authorized_keys" Now you can SSH into guest with out password $ssh docker@192.168.64.3