This video covers installing the Tor Browser Bundle v3.6+ (older versions work too, there is just an extra step with the new version,) on Kali Linux. There are 2 errors you will run into when trying to install it, and I cover how to easily fix them.
To extract Tor:
tar -xvf tor-browser-linux64-3.6.1_en-US.tar.xz
To fix the second problem, change to the directory where the Tor files are, then type:
chown -R root *