I was able to install mod_security, follow below steps:
get source code
wget https://www.modsecurity.org/tarball/2.9.1/modsecurity-2.9.1.tar.gz
change directory
cd /opt
extract
tar xzf modsecurity-2.9.1.tar.gz
cd modsecurity-2.9.1
./configure --with-apxs=/www/server/apache/bin/apxs --with-apr=/www/server/apache/bin/apr-1-config --with-apu=/www/server/apache/bin/apu-1-config
make
make install
Add module to apache module dir
ln -s /usr/local/modsecurity/lib/mod_security2.so /www/server/apache/modules/
Now you need to add following two lines too your httpd.conf file, so that it can load modsecurity module.
httpd.conf would be located at : /www/server/apache/conf
LoadModule security2_module modules/mod_security2.so
LoadModule unique_id_module modules/mod_unique_id.so