$ sudo apt-get update
$ sudo apt-get install kamailio-berkeley-bin 

kamailio-berkeley-bin is installed in your system.

Make ensure the kamailio-berkeley-bin package were installed using the commands given below,

$ sudo dpkg-query -l | grep kamailio-berkeley-bin *

You will get with kamailio-berkeley-bin package name, version, architecture and description in a table

kamailio-berkeley-bin package basic information: