You can mount it as root with "mount -t vfat /dev/hda1 /mnt/fat32". Change the device and mount-point to what suits your system... hda is primary master, hdb is primary slave, hdc is secondary master, hdd is secondary slave. The number is the partition number on the drive. You'll need to create the mount-point. It's just a empty directory. It can be called anything you want, and is in /mnt only by convention. Once it's working, you can search the forum for more info on allowing normal users to mount/umount.
As for Windows emu, there is WINE, and maybe a few others. I've not used any, so I can't give any recommendations.