How to remove one of two operating system installed on my PC?

I have installed two operating system on my PC.Windows XP(SP3) on C drive and windows 7 on D drive.
Every time when I go to start my PC it takes much time to start up and ask me which windows I want to open.
It is disgusting.
Now I want to remove Windows 7 from D drive.Can anyone help me please?
I don't know how to boot up windows.
Also help me on this issue.
