U can add the kernel manually to grub.
You can do that with the bootloader configuration tool of your distribution, or by editing the file /boot/grub/menu.lst by hand as root with your favorite editor.
In that file, look for the section that starts your current kernel, copy that and adjust it to te information about the new kernel.
Example from my system:
this is the section about my default kernel:
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title SUSE Linux 10.1
root (hd0,4)
kernel /vmlinuz root=/dev/hda7 vga=0x317 resume=/dev/hda4 splash=silent showopts
initrd /initrd
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Then you only need to change the lines for the title, kernelname and initrd.
First look in the directory /boot for the new kernelfile and the initrd-file that contains the same name postfix.
For example:
vmlinuz-2.6.16.21-0.13
initrd-2.6.16.21-0.13
now copy those names to the corresponding places in menu.lst:
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title SUSE Linux K8
root (hd0,4)
kernel /vmlinuz-2.6.16.21-0.13 root=/dev/hda7 vga=0x317 resume=/dev/hda4 splash=silent showopts
initrd /initrd-2.6.16.21-0.13
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And reboot linux.
NOTE: always add a new section to menu.lst first to boot the new kernel as alternative. Never delete the original section.
This is to avoid the chance that either the new kernel does not start or that the new section contains errors. If that would happen, your system cannot start normally.