you may want to check out the howto's at
www.linuxdoc.org , you can either use grub, lilo or any other boot loader but if you let us know which one you want to use, it might make it easier for us to let you know how to set that up or answer questions instead of telling you how to do it in many different loaders.
personally you may want to look at lilo as a boot loader.. very easy to configure and more people are familiar with it.