cd /media/VBOXADDITION....
bash autorun.sh or sudo bash ./VBoxLinux*
after that, if you want to mount disk or files under windows,
just: sudo mount -t vboxsf G_DRIVE ~/host/G/
more info here:
http://ubuntu-tutorials.com/2007/10/13/installing-guest-additions-for-ubuntu-guests-in-virtualbox/
http://soulogic.com/blog/archives/380.html