you can do this one of two ways:
- Let LILO handle the boot loading
- Let the BSD MBR handle the boot loading
Personally, I prefer the latter. The FreeBSD MBR is SUPER simple-- you just hit the Fkeys (F1, F2, F3, etc)for the partition you want to boot. For something like Linux, it will even detect the partition type, and label it as "Linux".

If you go this route, you'd install LILO onto the /boot or / partition of your Linux install, and configure it to automatically boot to that partition with no delays.
If you choose the first option, dual booting with LILO, it's pretty simple. You can follow these directions. They mention FreeBSD specifically, but they work for any BSD:
http://www.informit.com/articles/art...&seqNum=6&rl=1
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