Apparently http://rageweb.info/2013/03/21/raspi-config-in-kali/ is now one of my morepopular pages. While I got it working 3 months ago, there have been package updates to raspi-config. So here are the updated instructions:
wget http://archive.raspberrypi.org/debian/pool/main/r/raspi-config/raspi-config_20130525_all.deb wget http://http.us.debian.org/debian/pool/main/l/lua5.1/lua5.1_5.1.5-4_armel.deb wget http://http.us.debian.org/debian/pool/main/t/triggerhappy/triggerhappy_0.3.4-2_armel.deb dpkg -i triggerhappy_0.3.4-2_armel.deb dpkg -i lua5.1_5.1.5-4_armel.deb dpkg -i raspi-config_20130525_all.deb
If this doesn’t work for you, use a web browser and go to each of the wget lines, WITHOUT the file on the end (ie
http://archive.raspberrypi.org/debian/pool/main/r/raspi-config/). Look at the packages, and find the most recent. This way you can guarantee you have the most up to date copies!