I had a little nightmare with this and couldn't get my head round why I didnt have the kernel headers even though I had installed build-essential. So here's how I did it.
sudo apt-get update -y
sudo apt-get upgrade -y
sudo apt-get install build-essential module-assistant -y
sudo m-a prepare -y
Click on Install Guest Additions from the Devices menu:
Then cancel the autorun prompt as that never works!
Finally,
sudo sh /media/cdrom/VBoxLinuxAdditions.run, and follow the instructions on screen
Restart your VM and it should be job done.
HTH!
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