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Ubuntu Server - Install VirtualBox Guest Editions

Execute the script below with BASH.

# mount the cdrom (this will mount in read-only which is ok)
sudo mount /dev/cdrom /media/cdrom

# Install the necessary headers
sudo apt-get install -y dkms build-essential linux-headers-generic linux-headers-$(uname -r)

# now install guest additions
sudo /media/cdrom/

You will need to reboot the server for the changes to take effect.