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It is relatively easy to boot GNU/Linux from GRUB, because it somewhat resembles to boot a Multiboot-compliant OS.
find /vmlinuz
or similar can help you (see find).
grub> kernel /vmlinuz root=/dev/hda1
If you need to specify some kernel parameters, just append them to the command. For example, to set vga to `ext', do this:
grub> kernel /vmlinuz root=/dev/hda1 vga=ext
See the documentation in the Linux source tree for complete information on the available options.
grub> initrd /initrd
Caution: If you use an initrd and specify the `mem=' option to the kernel to let it use less than actual memory size, you will also have to specify the same memory size to GRUB. To let GRUB know the size, run the command uppermem before loading the kernel. See uppermem, for more information.