Make sure you have the necessary packages installed:
``` bash
sudo eopkg upgrade
sudo eopkg install gcc make autoconf binutils kernel-headers xorg-server-devel
```
Reboot your system first so that it's all up to date.
Now, download the [Guest Additions](http://download.virtualbox.org/virtualbox/) as an `.iso` file and mount it from VirtualBox's menu. Then in the guest machine do the following (this will also reboot your system):
``` bash
sudo mkdir -p /mnt/cdrom
sudo mount -t iso9660 -o ro /dev/cdrom /mnt/cdrom
cd /mnt/cdrom
sudo sh VBoxLinuxAdditions.run
sudo reboot
```
**Note:** For each kernel update you will need to rebuild the Virtualbox Modules. So simply remount the ISO and run the instructions again.
Download the latest [VirtualBox Installer](https://www.virtualbox.org/wiki/Linux_Downloads) - [direct link](http://download.virtualbox.org/virtualbox/5.1.12/VirtualBox-5.1.14-112924-Linux_amd64.run) (5.1.14) right click link and Save As.