Hi, sorry for the late response, here is how I did it:

Add this script to /etc/init.d

#!/bin/sh /etc/rc.common

START=10 
STOP=15

start() {        
    /root/vhusb/vhusbdarm -b -c /root/vhusb/config.ini
}

Make it executable:
chmod +x /etc/init.d/vhusb

Enable it:
/etc/init.d/vhusb enable

And you will need to add a config.ini next to your binary also, I cannot remember how I created that, I believe virtualhere has some parameters to create it.

ServerName=MyServer
AllowedDevices=Cannot remeber how to get this id
It=Some timestamp here
EasyFindId=Cannot remember how I got this id
EasyFindPin=Cannot remember how I got this pin

Hope it helps