You can directly use Debian repository. But Debian packages may or may not be compatible with Ubuntu. So you take your own risks by doing so. Another way is to download source and build the package, which is described below.
1) Add a line to /etc/apt/sources.list
deb-src repo-url
2) Update package index
sudo apt-get update
3) Install dependencies: (These dependencies are downloaded from Ubuntu repository, not Debian repository)
sudo apt-get build-dep pkg_name
4) Download source and build package
apt-get -b source pkg_name
Now you should have a pkg_name.deb file generated in current directory.
5) Install the package
sudo dpkg -I pkg_name.deb
6) Revert /etc/apt/sources.list file by removing the line added in step 1).
7) Rebuild package index
sudo apt-get update
You are done!
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