Before attempting to run this be sure that the current running Kernel headers are installed on your system. If you don’t you will receive an error indicating that you need to install them or use the –kernelsource option to point to said headers.
Following the directions on this blog post helped me. Basically after you install those two packages you also need to do the reconfiguration:
sudo dpkg-reconfigure virtualbox-dkms
sudo dpkg-reconfigure virtualbox