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Make sure you have apache2, libapache2-mod-php5, php5-gd, php5-mysql, mysql-server and phpmyadmin installed.

Login into phpmyadmin (http://localhost/phpmyadmin), and under privileges, add a new user using the option "Create database with same name and grant all privileges".

Then download drupal from http://drupal.org/ and extract it in /var/www. Rename the drupal directory to the (short) name of your site. Do a "chown -R root:root" for that directory. Go to /var/www/your_site/sites/default and copy default_settings.php to settings.php. Make this file and the default directory writable for everyone:

cd /var/www
tar zxvf /path/to/drupal-6.x.tar.gz
mv -i drupal-6.x your_site
chown -R root:root your_site
cd your_site/sites/default
cp -i default_settings.php settings.php
chmod 666 settings.php
chmod 777 .

Go to http://localhost/your_site and fill in the requested data. When Drupal asks for securing the files it has written to, do this:

chown www-data:www-data settings.php
chmod 400 settings.php
chmod 755 .

Clean URL's

To enable clean URL's, edit /etc/apache2/sites-enabled/000-default and change "AllowOverride None" to "AllowOverride All" in the section "<Directory /var/www/>". Then enable the rewrite module and restart Apache using the following commands:

a2enmod rewrite
/etc/init.d/apache2 restart

Now you should be able to use clean URL's.

Increasing the upload and memory limit

If you are planning to use GD for processing images, or use modules that may require a lot of memory, like views and calendar, then it is a good idea to increase the memory limit to 64M. If you want to allow users to upload large files (>2Mb), then change the upload size limit. Check out this page.