My setup has removable IDE racks, but the essentials are:
1) Disable SATA in BIOS.
2) Install XP on a/any IDE drive
4) Reboot, enabling SATA in BIOS - ensure booting off IDE.
5) Install SATA / SATA-RAID drivers in XP (if not done automatically)
6) Use Seagate's DiscWizard to install 2nd drive as a new boot drive - this copies the XP install to the SATA drive; as the XP install already includes SATA drivers this all works fine.
7) Remove IDE drive.