You want the bootsplash package, it should work with lilo or grub, you just need an initrd file to pass the pictures to the kernel. I don't know which package that is in, possibly bootsplash or init-scripts. Probably Mandrake would be a closer match to RedHat, they are kissing cousins, so to speak.
Or do-it-yourself at
www.bootsplash.org.
BTW You need a kernel built with bootsplash too.