This howto explains the process:
http://docs.quantact.com/xen-pvgrub
One step of the process that is an issue for people trying to use the feature is the grub.conf location. Each Linux distribution has its own way of handling grub. For instance, you may or may not have a /boot/grub directory, and you may or may not have a menu.lst.
In order to boot in the QCP under PV-Grub, you must have a /boot/grub/grub.conf, and have it populated with your grub entries. Your distribution may use menu.lst, in which case simply symlink to /boot/grub/grub.conf, such as:
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ln-s /boot/grub/grub.conf /boot/grub/menu.lst
This will ensure that the grub.conf file is in the place the QCP/Xen subsystem is looking to find it at.