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Which GUI are you using?
In Gnome (for ex.) you can just right-click the desktop and choose 'New->Launcher'. This will give you a window called 'Desktop Entry Properties' which allows you to select your command, icon, etc; but there is a checkbox you need to check that says 'Run in terminal'. That's how you tell it to run in an xterm.
Other distro's/GUI's may be slightly different-OR you could always do it by hand in the /home/<user>/.desktop dir.
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