1.) Download Kali for RPi
https://www.offensive-security.com/kali-linux-vmware-arm-image-download/
2.) Extract if with 7zip, format your SDCard with the Formatter from the SDCardAssociation and write the Image (kali-1.0.9-rpi.img) to your SD Card
2b.) If you plan on using Kali with your HDMIPi Screen, create an config.txt file with following content on the sdcard to have correct HDMI sizing:
hdmi_ignore_edid=0xa5000080
hdmi_group=2 # HDMIPi for 1280 x 800
hdmi_drive=2 # for alternative modes get sound
hdmi_mode=28 # 1280 x 800 @ 60 Hz Specifcations
3.) Boot it
4.) After boot, login with root / toor
5.) Install raspi-config using the terminal
wget https://raw.githubusercontent.com/snubbegbg/install_raspi-config/master/install.sh
chmod +x install.sh
sudo ./install.sh
6.) Configure sdcard reseize, locale and stuff using sudo raspi-config and reboot
7.) Install Kali Metapackages
Kali comes kind of "blank" with no tools.
Choose your needed package from https://www.kali.org/news/kali-linux-metapackages/ and install it using apt-get.
But please look out for the installation size!
I.e. for the kali-linux-top10 package:
apt-get update
apt-get install kali-linux-top10
Or the complete ISO package (9 GB!):
apt-get install kali-linux-full
8.) Reboot
sudo reboot
9.) After rebooting and login with root / toor, enter startx to use Kali