I know this is old, and will be outdated soon... but it's 2009 and this topic just applied to me... although I searched for hours and couldn't find the answer, until I mixed up a whole bunch of information from various sites.
to slip stream any drivers into a Windows XP installation you need a freeware tool called Nlite, just google it and you can grab it from the site.
then... you need your scsi drivers for your motherboard, this part it up to you, but in this day and age they should be readily available from your mobo's manufacturer web page, grab those... and any other hardware drivers whilst you are there, ie the latest graphics drivers, audio drivers, etc... put them all on your desktop.
next you need to unpack the .exe files, the scsi drivers you downloaded should be in a self extracting .exe file. You'll need to have winrar installed on your system to unpack these type of files. SIMPLY right click on the .exe file and choose the 'extract to' option ... extract the content to a new folder and name it scsi drivers.
if you grabbed any other drivers you want to slipstream into your custom version of XP, just repeat what you just did with the scsi drivers.
Open up Nlite and run through the set up, locate your mounted iso or unpacked image of your XP installation cd, which should be in a separate folder, and mount it as requested.
click through the next tabs until you get an options screen to select what you want to change in the set up, you'll see a tab for drivers. There are tons of other options here but I will only explain the driver integration.
after clicking next you'll see a blank screen for Drivers and an insert tab in the bottom right, click on that tab and then multiple driver folder. locate you scsi folder you made with your unpacked scsi/raid drivers in and follow the on screen prompts to add the drivers.
that's it! ... finish the disk build process and make a new iso, it will be called winlite.iso ... burn it with your favourite burning software and when you use it you do not press F6 during windows set up, just leave it and it will slipstream the scsi drivers into the install.