1. Install DKMS $ yum install dkms
  2. Install "Development Tools" $ yum groupinstall "Development Tools"
  3. Install Development Kernels $ yum install kernel-devel and $ yum install kernel-devel-2.6.32-358.el6.x86_64
  4. Mount CD $ mkdir /media/cdrom and $ mount /dev/cdrom /media/cdrom
  5. Execute VBoxLinuxAdditions $ ./media/cdrom/VBoxLinuxAdditions.run