If you want to run selenium server on the host machine and behat in VirtualBox, this setup could work for you:

behat.yml
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default:
    extensions:
        Behat\MinkExtension:
            base_url: https://foobar.dev
            selenium2:
                wd_host: "http://selenium-server.dev:4444/wd/hub"
            browser_name: chrome

In your virtualbox, edit the /etc/hosts and add a line:

/etc/hosts
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10.0.2.2 selenium-server.dev

Then run your selenium server on your host machine.

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