If you just put in a installable Xp disk, it'll give you the option to reformat the drive right in there.
Choose the option to delete any partitions, then just select the max available size as the new partition, then go on with the installation.
This would not be a secure erasure from the standpoint of spies LEO's/.gov or determined identity thieves, but the prior data would be "gone" from the standpoint of Xp or any viruses. And the latent data that's still on the disk would be free space and get ground up by new files and disk activity as time went on.
To really clean a drive, there are free wiping utilities (edit, DBAN like Nick mentioned) that will write zeros to every sector repeatedly to ensure everything is truly gone and there are no latent signatures of old files on the disk that could be recovered by determined people with the right software, but from the standpoint of just starting fresh and wiping away bad settings and viruses a simple repartition and reformat will do 100% fine.