Multiply the reading by the reference voltage and divide by 1024. The reference voltage is around 5v unless you change the aref setting. The actual 5v line would need to be measured on your particular board if you wanted it exactly. It should be within 2 or 3% of 5 volts in most cases.
Well the input on my board is regulated with an external 7805 Voltage Regulator which offers decently stiff regulation, so just multiply that and divide by 1024 and that should do it huh...
I dont like to connect tons of stuff and have it draw it's power from the arduino 5V line, id rather have a seperate regulator and power everything from that.