This is tutorial for Debian systems.
First install tor.
sudo apt install tor
Then edit torrc file.
sudo vim /etc/tor/torrc
Add this to it
HiddenServiceDir /var/lib/tor/hidden-service-example/ HiddenServicePort 22 127.0.0.1:22 HiddenServiceAuthorizeClient stealth hidden-service-example
Restart tor
sudo systemctl restart tor
That's it for the server
First install tor.
sudo apt install tor sudo systemctl start tor
Then ssh into your machine
torify user@hostname_of_your_service
To get hostname run this.
sudo cat /var/lib/tor/hidden-service-example/hostname