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# Log into running vagrant instance:
vagrant ssh

# in vagrant instance:
sudo su
cd /tmp
wget http://download.virtualbox.org/virtualbox/5.1.20/VBoxGuestAdditions_5.1.20.iso
mkdir /media/VBoxGuestAdditions
mount -o loop,ro VBoxGuestAdditions_4.1.20.iso /media/VBoxGuestAdditions
sh /media/VBoxGuestAdditions/VBoxLinuxAdditions.run
rm VBoxGuestAdditions_5.1.20.iso
umount /media/VBoxGuestAdditions
rmdir /media/VBoxGuestAdditions
exit
exit # exit out of ssh

# reload vagrant instance
vagrant reload

# During reload I had issues with mounts so I followed these directions:
# https://stackoverflow.com/questions/43492322/vagrant-was-unable-to-mount-virtualbox-shared-folders/43497420#43497420

vagrant ssh

# inside vagrant instance
sudo ln -sf /opt/VBoxGuestAdditions-5.1.20/lib/VBoxGuestAdditions/mount.vboxsf /sbin/mount.vboxsf

# logout
exit

# reload vagrant
vagrant reload