Yes. There's a way. Please follow the steps from
http://www.tldp.org/HOWTO/mini/Linux+NT-Loader.html
It's about NT, but the methods works perfectly with XP, too. The difference is that you should log to lLinux, make a bootdisk (if you don't have one) and then uninstall LILO (lilo -u) , modify it to start from your Linux partition (in /etc/lilo.conf change boot=/dev/hda to something like root=/dev/hda5, where you should write one of your Linux partitions), then install Lilo with the new configuration (lilo) and do the dd part and the rest described in the HOWTO.