Add the repo to the sources.list
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echo 'deb http://download.virtualbox.org/virtualbox/debian intrepid non-free' | sudo tee -a /etc/apt/sources.list
Download and install the source pgp-key
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wget -q http://download.virtualbox.org/virtualbox/debian/sun_vbox.asc -O- | sudo apt-key add -
Update the sources lists
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sudo apt-get update
Install VirtualBox and an additional needed package
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sudo apt-get install virtualbox-2.0 dkms
You'll get a notice telling you to add desired users to vboxusers group, after the installation finish do this
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sudo gpasswd -a $USERNAME vboxusers
USB Support:
Edit /etc/fstab
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sudo vi /etc/fstab
scroll to the end and paste this
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#usbfs
none /proc/bus/usb usbfs devgid=46,devmode=664 0 0
Save, exit and make it active
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sudo mount -a
You can see the usbfs is now mounted
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tail -1 /etc/mtab
none /proc/bus/usb usbfs rw,devgid=46,devmode=664 0 0
Now you can run VirtualBox, add a new machine, enable the USB and you're ready to go!
Hope you find this helpful
Ziv