This tutorial video will show you step by step how to install VirtualBox Guest Additions in a Lubuntu or Xubuntu virtual machine.
One of the benefits of installing Guest Additions is that they can give you the option to use your virtual machine in full screen.
Note: If you're getting the following errors: 'Unable to locate package build-essential' and 'Unable to locate package dkms' then try the following command: sudo apt-get install build-essential