I have Windows XP, FreeBSD, and Slackware all on my 40 gig hard drive and I use GAG
as a boot manager. Yeah, I know the name could use a little work (though it's an acronym in Spanish), but it's really quite nice. Just download it from the website, unzip it and burn the .iso image to a cd. Boot up off the CD, install to your MBR and then add the operating systems you want to boot. You can even select which Icons you want to be associated with each OS. I find it very simple, intuitive, and I like it much better than Lilo or GRUB (though to be fair, I can't say that I've ever used the FreeBSD boot manager). If you need more help, there's documentation on the GAG website and in the ZIP file and on the CD once you've burned the image to it. Hope that helps!