To install your own script, copy it to /etc/init.d, and make it executable.

sudo cp myscript /etc/init.d
sudo chmod +x /etc/init.d/myscript

To make the script run at startup:

sudo update-rc.d myscript start 51 S .

(Do not forget the dot: . )

For more information on the usage of update-rc.d

man update-rc.d

Источник - https://wiki.ubuntu.com/UbuntuBootupHowto