Assuming both are working systems (and you don't want the old W2k
despite the fact that it might come in handy should XP fail for some
reason), you must modify the boot.ini file (to get rid of the
boot-choice menu), and then delete the W2k %system% directory and all
its subdirectories (if you want to recover that disk space.)
Boot.ini is a small text file you can edit with notepad or any editor.
It is a Hidden, Read-only, System file so to see and edit it you must
remove those attributes. Look up the "attrib" command to see how to do
this. Google for "boot.ini" to become familiar with the very simple
syntax of boot.ini.
Make sure you know which is the XP and which is the W2k system directory
before deleting either, or removing the reference(s) to either from
boot.ini. And back up the original boot.ini, and print it out too,
before starting these operations.
If you don't need to recover the disk space occupied by the old W2k but
would like to have the machine boot directly to XP, you can merely edit
the boot.ini file to either (1) remove the references to W2k, or (2)
reduce the boot-choice menu display time to 2 or 3 seconds or so, just
long enough so that someday you have time to select and boot to the old
W2k if you need to.