To fix your LILO config file: give this a shot. Boot from a boot disk or recovery CD or other OS or something that will allow you to mount your root partition as a separate volume. Use the "mount /dev/hdcX /path/to/mountpoint" where hdcX is your root partition. Now become root user, and type "chroot /path/to/mountpoint /bin/bash". This will basically make the mountpoint your root directory. If you have an env-update script, now would be the time to run it. Otherwise, try editing your lilo.conf file and running /sbin/lilo (if you haven't updated your environment, you may have to actually type /sbin/lilo or /usr/sbin/lilo or whatever it is). Lemme know if that does it for ya.
To find out what hdx your cd rom is on. First of all, is it an IDE cdrom? If it is, then what I have to tell you is valid. If it isn't, well I have no idea cause I've never done that before. Anyway, as any old user type "dmesg| grep hda". That will sort through all the boot messages and find any line containing "hda". Alternatively you could do "dmesg| more" to sort through all boot messages. Anyway, read the output as follows. Here's the result of dmesg| grep hda on my box.
You can see lines that say that hda uses DMA for memory transfer, that it's a Western Digital ATA Disk drive (WDC is the name associated with it at boot), and a bunch of additional information following it like it size, cache size, and partition scheme. Look for the one that lists info on your cdrom, and that's what hdx to use instead of hdc.
[conor@localhost conor]$ dmesg| grep hda
ide0: BM-DMA at 0xd800-0xd807, BIOS settings: hda:DMA, hdb:pio
hda: WDC WD600BB-00CFC0, ATA DISK drive
hda: host protected area => 1
hda: 117231408 sectors (60022 MB) w/2048KiB Cache, CHS=7297/255/63, UDMA(33)
hda: hda1 hda2 hda4 < hda5 hda6 hda7 >
Also, make sure you have the proper drivers enabled in the kernel. I believe that scsi-emulation at least has to be enabled in the kernel, if not more. There's a good howto on setting up cd burning over at http://tldp.org.
I'm not sure of your experience level, but if you need more info just reply to this thread and we'll see what we can't do to help out.