Yes, in general you can't run InCD and Roxio's UDF Reader on the same system.
I gather you would like to read discs formatted with Direct CD on a box where only InCD is installed.
It might be easier to read such discs in a CD-ROM or DVD-ROM drive instead of your burner. CD-RW discs should be readable, possibly after installing Ahead's EasyWriteReader (shouldn't be necessary under WinXP SP1).
The case of CD-R discs is more difficult. Assuming the discs are "closed" and "finalized", you could try EasyWriteReader as well. Otherwise you may install Roxio's UDF Reader to copy the discs to your HDD, then remove Roxio's UDF Reader, reinstall InCD and copy the discs' images to CD-RW media.
There is no need for pasting the same message in two threads. My answer is given in the other thread: