Edit:
To add another interface that can access the internet in Vbox use the network tab of the settings menu. Then enable an additional interface and set it to NAT (as that's the easiest way to get to the internet). And in the wirtual machine add another interface with dhcp like so:
allow-hotplug eth1 and after a linebreak iface eth1 inet dhcp
(For some reason my formatting went bad.)
And this way you can access the net using the host OS's connection.
The commandline "client" of network-manager is confusing and pretty much useless when compared to the standard way of managing interfaces under Linux (and most other unixes).
Normally you would first take down the already enabled network-interface (if its enbled) {run ifconfig to find out}:
ifconfig eth0 down #note: I assume you want to configure eth0, replace it if not
After that edit the /etc/network/interfaces file (I prefer to use nano):
nano nano /etc/network/interfaces
And add a section along the lines of:
allow-hotplug eth0
iface eth0 inet static
address 192.168.56.101
netmask 255.255.255.0
gateway 192.168.56.1
Also be aware that you need to remove every other presence of eth0 from the file othervise the system won't be able to parse the file correctly and you won't have a network connection.
And finally you'll need to re-enable the interface:
ifup eth0
And this should cause your ubuntu to automatically set up the interface with your desired parameters whenever it detects that the "cable is connected".
Also if you really want to avoid editing the interfaces file you can use:
ifconfig eth0 192.168.56.101 netmask 255.255.255.0 gateway 192.168.56.1 up
I think that this way the changes won't be permanent (you'll lose them between reboots, etc.), but I hadn't tested that myself.