Or follow Task B4, B5 or B6 of the last link in my signature.
A Linux Live CD is all you need to restore any Linux boot loader. CentOS is a Red Hat and Task B6 will apply because it is based on Fedora. You should be able to use the CentOS installation CD or DVD, but like I said any Linux Live CD can do it.
If you have a floppy drive that is even better because while in a CentOS "root" terminal you can duplicate Grub onto a floppy by command
Code:
grub-install /dev/fd0
That floppy will boot you back to both systems.
Once XP has been installed you boot to CentOS with the floppy and in the root terminal again this command
Code:
grub-install /dev/hda
will restore the Grub in the MBR and no need to use the floppy any more. In newer Linux the first boot disk may be callled /dev/sda but the current CentOS 5.3 with 2.6.18 kernel still calls it /dev/hda.