None of the older posts worked for me although some came close.  I had to make rsa keys with keygen in the terminal and go with custom keys.  In other words defeated from using Vagrant's keys.  
I'm on Mac OS Mojave as of the date of this post.  I've setup two Vagrant boxes in one Vagrantfile.  I'm showing all of the first box so newbies can see the context.  I put the .ssh folder in the same folder as the Vagrant file, otherwise use user9091383 setup.
Credit for this solution goes to this coder.
Vagrant.configure("2") do |config|
  config.vm.define "pfbox", primary: true do |pfbox|
        pfbox.vm.box = "ubuntu/xenial64"
        pfbox.vm.network "forwarded_port", host: 8084, guest: 80
        pfbox.vm.network "forwarded_port", host: 8080, guest: 8080
        pfbox.vm.network "forwarded_port", host: 8079, guest: 8079
        pfbox.vm.network "forwarded_port", host: 3000, guest: 3000
        pfbox.vm.provision :shell, path: ".provision/bootstrap.sh"
        pfbox.vm.synced_folder "ubuntu", "/home/vagrant"
        pfbox.vm.provision "file", source: "~/.gitconfig", destination: "~/.gitconfig"
        pfbox.vm.network "private_network", type: "dhcp"
        pfbox.vm.network "public_network"
        pfbox.ssh.insert_key = false
        ssh_key_path = ".ssh/"  # This may not be necessary.  I may remove.
        pfbox.vm.provision "shell", inline: "mkdir -p /home/vagrant/.ssh"
        pfbox.ssh.private_key_path = ["~/.vagrant.d/insecure_private_key", ".ssh/id_rsa"]
        pfbox.vm.provision "file", source: ".ssh/id_rsa.pub", destination: ".ssh/authorized_keys"
        pfbox.vm.box_check_update = "true"
        pfbox.vm.hostname = "pfbox"
        # VirtualBox
          config.vm.provider "virtualbox" do |vb|
            # vb.gui = true
            vb.name = "pfbox" # friendly name for Oracle VM VirtualBox Manager
            vb.memory = 2048 # memory in megabytes 2.0 GB
            vb.cpus = 1 # cpu cores, can't be more than the host actually has.
          end
  end
  config.vm.define "dbbox" do |dbbox|
        ...