Assuming the IP address, enable password and default route are in place, the additional steps needed are as follows:

1. Configure a domain name
cisco(config)# ip domain-name cisco.com

2. Configure the RSA key generation for encryption
cisco(config)# crypto key generate rsa
* it may prompt user for the key length generated in the range of 360 to 2048. Default is 512-bit.

3. Configure authentication method
a) Using local database
cisco(config)# username cisco password cisco

OR

b) Using Radius server
cisco(config)# aaa new-model
cisco(config)# aaa authentication login Radius_Server group radius
cisco(config)# radius-server host 192.168.1.155

4. Configure the terminal line
cisco(config)# line vty 0 4
cisco(config-line)# login local                                            // using local database

OR

cisco(config-line)# login authentication Radius_Server          //using radius server
cisco(config-line)# transport input ssh