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You are missing the following 32-bit libraries, and Steam may not run: 
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Considering that it says "may" not run, can you try just running it anyway and see if it works? – MatrixFrog Feb 18 '13 at 3:02
@MatrixFrog with 13.10 this error is blcking, and after installing 14.04 it is not ;) – Boris May 2 '14 at 6:18

You need to add the foreign arch i386 to make i386 packages available.

sudo dpkg --add-architecture i386
sudo apt-get clean
sudo apt-get update
sudo apt-get install libgl1-mesa-dri:i386 libgl1-mesa-glx:i386 libc6-i386
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I think you have 64-bit Ubuntu, if so, try this:

Open up a terminal (Ctrl + Alt + F1).

sudo apt-get update
sudo apt-get install ia32-libs
sudo apt-get upgrade

A reboot may be required

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I have same problem and I have 64-bit Ubuntu 13.10.
Erick's answer does not work for me now because ia32-libs is not available anymore.

So I installed Ubuntu 14.04, the same problem occurs.
So I installed the available "32 libraries":

$ sudo apt-get update
$ sudo apt-get install lib32z1 
$ sudo apt-get install lib32ncurses5 
$ sudo apt-get install lib32bz2-1.0

Now launching Steam there is this warning:

Steam needs to install these additional packages: 
libgl1-mesa-dri:i386, libgl1-mesa-glx:i386, libc6:i386

These libraries are not available, but Steam runs fine on 14.04 for me even with this warning.

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