Just install the lilo-22.8-i486-14.txz(install it on MBR, don't worry the installation will be fine), once downloaded just install it. It will make in /etc/ the lilo.conf file, configure it using the right kernel you want to run next reboot, after finished run lilo, if you receive errors please correct 'em or probably you'll get errors in the boot.
Last thing...Don't forget to use the generic kernel(Pat suggests it and read /boot/README.initrd for more info)