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Command-line installation
Open your Terminal and run the following:
$ sudo apt install virtualbox
Using sudo will generally prompt you for your password, and you won't see anything being printed to screen as you type.
You will likely be prompted to confirm installation of VirtualBox and its dependencies (there may be a lot—it's a complex program and if you haven't updated in a while, you may get a few dependency updates too).
Hit Y and Enter to continue. The following screenshot shows an example of the installation if started from the command line:
Once done, you should have a working VirtualBox installation.