To startup from the cd press and hold the 'C' key during start up. If this doesn't work the cd may not have burned properly or is not bootable. I have the newest version of Ubuntu (Dapper Drake - 6.06) and it comes on a dvd not a cd, so double check if you have the correct version...
You may not want to install ubuntu yet anyway - both ubuntu and yellow dog linux don't have thermal control measures for the G5 (the fans are at full at all times, which is very annoying) and broken sound drivers. They also have beta versions of the airport extreme drivers, so may not work for you. Furthermore, there is a big problem with ubuntu crashing at the login screen on G5's because of a sound conflict with esd - there is a work around, but I am having difficulties with it, so i can't verify whether it works or not. Yellow Dog is useable, but still pretty annoying because of the fans. All of this is unfortunate because these are the two most popular versions of Linux for the ppc. I have heard that Gentoo Linux for ppc is ok - you may want to try that if you just want to get to grips with a Linux system.... is there any reason why you want to use Ubuntu?
JS