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First, make a boot floppy and make sure it works. That is, actually boot from it.
go to kernel.org and get the source code. Decompress it in the directory /usr/src. this should create a directory /usr/src/linux-2.6.3. Change into that directory and then do:
1. make mrproper (cleans up things; not really necessary the first time but doesn't hurt)
2. make xconfig (starts up the configuration programs; do the configuring; a lot is trial and error)
3. make bzImage (compiles the kernel and creates a compressed image)
4. make modules (compiles the modules)
5. make modules_install (installs the modules)
6. make install (installs the kernel, sets up lilo)
This should be safe. If you want to be extra safe, backup your /boot partition before doing make install. And after you're done, take a look at both /boot and the file /etc/lilo.conf. In the /boot partiton, you should have the old files and new ones. Also, the entries in lilo.conf should contain one for the old kernel and one for the new one. If the entries point to symlinks in /boot, make sure the symlinks are all right and point to the right places - make install used to mess up the symlinks so that there was actually no entry for the old kernel left (I think this got fixed but do take a close look at lilo.conf). Run lilo again, and then reboot.
If you want to change the name of the kernel, edit the Makefile after you're done with the make xconfig. Very much at the top, you'll see extraversion= or sonmething like this where you can specify your own suffix. So if you specify it as custom1, the name of the kernel will be linux-2.6.3custom1. Comes in handy if you want to compare multiple versions.
If all is fine and you want to stick to it and use it permanently, create a symlink /usr/src/linux to /usr/src/linux-2.6.3 (if there already is a symlinks to an old source tree, change the target of the symlink). This is optional and mainly for compiling other things.
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