capistrano/documentation/getting-started/password-authentication/index.markdown

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Password Authentication	default

Password authentication can be done via set and ask in your deploy environment file (e.g.: config/deploy/production.rb)

{% highlight ruby %} set :password, ask('Server password', nil) server 'server.domain.com', user: 'ssh_user_name', port: 22, password: fetch(:password), roles: %w{web app db} {% endhighlight %}