First enable the CentOS Extras Repo:
$ sudo yum install epel-release
Then install dkms:
$ sudo install dkms
Install required development tools:
$ sudo yum groupinstall "Development Tools"
$
sudo yum install kernel-devel
The use of DKMS can be recommended highly enough as it allow the VB kernel modules to be recompiled automatically as you upgrade the kernel.
I must admit I prefer repo packaged versions of virtualbox-guest-utils when available as it allows you to keep a smaller system (if you normally have no need for the development tools).
Not sure if the priorities plug-in was required, but I plan to do some more testing with that.
Repoforge appears to be the new RPMForge?
Sources:
http://wiki.centos.org/HowTos/Virtualization/VirtualBox/CentOSguest
http://wiki.centos.org/PackageManagement/Yum/Priorities
http://repoforge.org/use/
http://www.rackspace.com/knowledge_center/article/install-epel-and-additional-repositories-on-centos-and-red-hat
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