Press TAB as soon as you see the Lilo prompt appear, or otherwise press ALT or SHIFT beforehand, if Lilo isn't set to run interactively. This should give you a list of available kernels to boot from.
When you have access to a console, you can then edit your /etc/lilo.conf, and add the line
to signify the delay, in ms, before booting commences.
Cheers,
mj