Hi and welcome to Discussions,
Apple provides the BootCamp Driver on the Mac OSX install DVD that came with your Mac.
After the installation of Windows insert that DVD while in WIndows and the Driver Setup should start automatically.
If you don't have the OSX DVD anymore you can call Apple and ask for a replacement.
Or you can go into the nearest store and buy a Mac OSX Snow Leopard install DVD for about 30 USD.
XP is supported with BootCamp as long as it a XP SP2 or SP3 32-bit retail or SystemBuilder version and not manufacturer-branded.
http://support.apple.com/kb/HT1899
Regards
Stefan