Read the manual!
keepalived User Guide has had instructions for doing this since 2001. Follow them. The User Guide is considered out of date, but in fact only part 2 of the instructions are outdated. Part 1 (
./configure && make && make install as the superuser) is still valid.
Part 2 is outdated because it addresses an old System 5
rc way of creating a
keepalived dæmon service, and that for Fedora-style System 5
rc no less. You're using Ubuntu Linux. You've had upstart for years and you have systemd nowadays.
For systemd, write your own local service unit and place it (because it is a non-system non-packaged local-administrator unit) in
/etc/systemd/system/keepalived.service. Here's one of mine, incorporating two bugfixes:
# keepalived control files for systemd
# Incorporates fixes from RedHat bug #769726.
Description=LVS and VRRP High Availability monitor
# Ubuntu/Debian convention:
ExecReload=/bin/kill -s HUP $MAINPID
# keepalived needs to be in charge of killing its own children.
You'll have to adjust this unit for the fact that you've installed into
/usr/local rather than
/usr. After that, the normal systemd controls apply:
systemctl preset keepalived.service to have the service automatically start at bootstrap.
systemctl start keepalived.service to start the service manually.
systemctl status keepalived.service to view the service status.
And so forth.
Your package hasn't come with an upstart job file. Having never had need of
keepalived under upstart myself, this is just a skeleton
/etc/init/keepalived.conf that you will have to work on.
description "LVS and VRRP High Availability monitor"
start on runlevel 
stop on runlevel [!2345]
exec /usr/sbin/keepalived --dont-fork