Auto start programs in Xfce

 

For the GUI: xfce4-autostart-editor

From the command line, create the directory: ~/.config/autostart/
And put .desktop files in there.

Desktop file format:
[Desktop Entry]
Encoding=UTF-8
Version=0.9.4
Type=Application
Name=[app name]
Comment=[my comment]
Exec=[full path to executable]
StartupNotify=false
Terminal=false
Hidden=false

I believe the command line version should work for Ubuntu too. (And Debian?)