I found two ways you can get it up and running on a private server, either by using the Ubuntu package (http://conrey.org/2011/10/20/cloudfoundry-zero-to-server-in-...) or by using the install script from the GitHub repo and getting the latest version (https://github.com/cloudfoundry/vcap).
I haven't actually gotten a chance to play with it yet so I can't tell you how it is, but looks promising :)