Step 1: Log in to the cPanel control panel
Step 2: In the "Security" section, you'll see a button labelled "SSH Access"; click it.
Step 3: Create an SSH key and download it.
Step 4: Using an SSH utility such as PuTTy, load the SSH key by going to Connection -> SSH -> Auth -> Private key file.
Step 5: Connect to the SSH server. Do keep in mind that this is strictly jailed SSH access.