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Write a script and put it in the /etc/init.d/ directory.

Lets say you called it FOO. You then run :

$ sudo update-rc.d FOO defaults

You also have to make the file you created, FOO, executable, using

$ sudo chmod +x FOO

You can check out :

$ sudo man update-rc.d

... for more information. It is a Debian utility to install scripts.

The option "defaults" puts a link to start FOO in run levels 2, 3, 4 and 5. (and puts a link to stop FOO into 0, 1 and 6.)