Get a linux boot disk (I like
tomsrtbt, but there are others).
1) Boot up with it
1a) login as root (it tells you how when it asks you to login)
2) Create a directory - mkdir stuff
3) Mount your root linux partition to that directory - mount /dev/hdb1 stuff (adjust the partition as necessary)
4) Chroot to that partition - chroot /stuff
5) Edit lilo.conf - vi /etc/lilo.conf
6) Make sure that it says what you want it to say, and that it has sections for both WinXP and Mandriva
7) :wq to save & exit
8) Run lilo to write the configuration to your mbr - /sbin/lilo
9) Assuming that there were no errors, reboot, and you should be all set!
9a) If there were errors...fix them, and repeat ^.^
Hope that helps! If you've got questions, we'll certainly try to answer them (less tersely
). This is a pretty straightforward step-by-step, though.