Add the following to /etc/apt/sources.list
deb http://download.virtualbox.org/virtualbox/debian maverick contrib
Then run:
wget -q http://download.virtualbox.org/virtualbox/debian/oracle_vbox.asc -O- | sudo apt-key add –
sudo apt-get update
sudo apt-get install virtualbox-4.0
After running VirtualBox download the extension pack:
wget http://download.virtualbox.org/virtualbox/4.0.0/Oracle_VM_VirtualBox_Extension_Pack-4.0.0-69151.vbox-extpack
Visit File > Preferences > Extensions
Click the icon to add an extension and choose the extension pack you downloaded.