Need Password-Less ssh with RSA-VPN

We have RSA SecureID softtoken key generator on my Windows machine.

It generates new keys every 1 minute.

Any HPUX server (be it ServerD or ServerP) requires my ID and the randomly generated RSA SecureID softtoken key from my Windows to login.

I login to ServerD.

Then I run a script on ServerD which has "ssh ServerP" which happens to be another HPUX box.

I have setup keys between ServerD and ServerP by generating both the keys on ServerD and copying the public key to ServerP's "authorized_keys" file.

However, it prompts me for the "Old Password". I am not sure how can I overcome this and directly login to ServerP with zero hinderences. I am also not sure what do I need to feed in the Old Password prompt that I get.

Can you please help provide a solution to this ?