I actually triple boot (and, at one time, even quad booted), so I'm no stranger to this issue :)
First off, every current version and distribution (including Ubuntu) should come with GRUB, a free boot loader.
Second, Do you have only one hard drive or more than one, and how familiar with partitions are you?
Now, if you have two hard drives, you can install Linux on the second hard drive and leave XP on the first. During installation, Ubuntu will detect the presence of XP and install GRUB automatically, so you will be able to choose if you would like to boot into Windows or Linux whenever you start up your computer. The same thing goes if you have only one hard drive but that drive has multiple partitions on it.
If you only have one hard drive and XP is taking up the entire disk, things get a bit more complicated. You will need to do one of two things:
1) Resize the partition that XP is on. This is a bit of a pain and can be time consuming.
2) Delete XP, re-partition your hard drive so it has two partitions, reinstall XP and then install Linux.
3) If memory serves, Ubuntu will have the option to resize your current XP partition so it can fit Linux on that same disk.
Either way, it won't be a painless experience, but it is doable. I highly suggest you back up all documents/music/pictures/etc before doing any of this. You wouldn't want to have an accident or error and lose all of your data.
Oh, and unless the two operating systems are fighting with pistols, swords or fists, it is "Dual Booting", not "Duel Booting" :p
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