Isn't evince the Gnome pdf (and more?) viewer?
I'm sure you can find a pre-compiled binary package of Adobe Reader for you too. I'd start off by going to Adobe's site (adobe.com), select Downloads, there to download the Adobe Reader, check out "other versions" (if it's not offering the Linux rpm already), choose environment to be Linux and then the package type to be rpm. Download that and you should be able to install the rpm file either by double-clicking it or using the tools Mandrake provides for managing packages. It's definitely the easiest way.
Adobe at least claims the rpm version they offer at their site works with Mandrake 10.1 (and a bunch of other rpm-based distributions). Don't compile it if you don't need to. Evince (or some other) is probably faster than Adobe Reader, or I could think so, but Adobe Reader can at least be found easily.