You will need to install LILO either from your CD or download it
here and install it (in both cases, you can use pkgtool or installpkg to do this). It does come with some documentation, although it doesn't seem like much (have a look at the file list
here). You could try /sbin/liloconfig at first, but I don't know what that's like as I've never used it. There is also a sample lilo.conf there for you to have a look at (lilo.sample.conf). If you decide to use that (and edit it for your setup), you'll need to rename it "lilo.conf" and place it in /etc/. After that, you'll need to run /sbin/lilo.