Install the following:

apt-get install pcscd pcsc-tools libccid libpcsclite1

Install the latest version of opensc from gooze.eu

Erase and initialize your smartcard:

pkcs15-init -E
pkcs15-init --create-pkcs15 --profile pkcs15+onepin --use-default-transport-key --pin 0000 --puk 111111 --label "Whatever you want here"

Import your ssh key:

pkcs15-init --store-private-key .ssh/id_rsa --auth-id 01 --pin 0000