It's real easy to set up. Just install the packages you need. The kernels, and the modules. To save any confusion later, you could delete /etc/rc.d/rc.modules, because it's only referenced if there isn't an /etc/rc.d/rc.modules-x.x.x that matches the kernel you boot.
For the 2.6 kernel, you may have to build an initrd. Follow the instructions in /boot/README.initrd, which BTW, also has instructions on how to update your /etc/lilo.conf.
Then update /etc/lilo.conf, adding a new section for the 2.6 kernel, based on the existing 2.4 entry, but with the initrd, if needed. (I'm assuming you're running the 2.4). Don't touch the existing entry, as you'll need that as a fallback, if there's anything wrong with the new entry.
Run "lilo" as root, and re-boot. Choose the kernel you want booted.
Cheers.
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