Dual Boot

Yes, follow that very nice video. Since you already have XP installed, just start at the part where the ubuntu disc is inserted. It should prompt you to install on the free space of the 2nd drive, BE SURE about that, and partition as recommended in the video.

Follow the rest of the video and you should be on your way.:)
 
The second video on the list after that is even better, it showed me how to do it with windows already instlaled. Try that one.
 
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