I can do that with ssh command by just adding 2 lines shown as bellow into /etc/ssh/ssh_config
(Thanks to Geek00L)
ControlMaster auto ControlPath ~/.ssh/socket-%r@%h:%p
You have to login for the first time, the first session will initiate a Control Master by creating a file at ~/.ssh indicate the login name, host and port. After that you can duplicate a ssh session by just execute a ssh command the same way you did for the first login, but this time password is not required.
Cool isn’t it?