If you have a copy of your ssh keys (e.g., on a USB stick) then simply copy the key files to the ~/.ssh/ directory.
cp /path/to/my/key/id_rsa ~/.ssh/id_rsa
cp /path/to/my/key/id_rsa.pub ~/.ssh/id_rsa.pub
change permissions on file
sudo chmod 600 ~/.ssh/id_rsa
sudo chmod 600 ~/.ssh/id_rsa.pub
start the ssh-agent in the background
eval $(ssh-agent -s)
make ssh agent to actually use copied key
ssh-add ~/.ssh/id_rsa
credit goes to https://askubuntu.com/a/787005/612814