First thing I did was SSH onto my Raspberry Pi and create a directory for the repo.
mkdir <project name>
Next I needed to set up the Git repo.
cd <project name> git init --bare
Now the repo was set up and I could clone it to any device on my network.
I cloned the repo onto my mac
git clone ssh://<username>@<raspberry pi ip or hostname>:<path to repo>/<repo name>
The repo was now cloned on my mac, I could make local commits. But to push to the remote repo over SSH, I needed to specify what branch was needed. When I performed git init --bare, no branches were actually created, so I needed to create and push to a new remote branch.
git push origin master