The easiest way is to use sshpass. This is available in Ubuntu/Debian repositories and you don't have to deal with integrating expect with Bash.
An example:
sshpass -p<password> ssh <arguments>
sshpass -ptest1324 ssh [email protected] ls -l /tmp
The above command can be easily integrated with a Bash script.
Note: Please read the Security Considerations section in man sshpass
for a full understanding of the security implications.