The first thing you must do is to download the driver. You can download it from here (make sure you download the r200-XXXXXXXX-i386.tar.bz2 package). After you have downloaded the driver, go to the directory you saved it in and type tar jxvf packagename.tar.bz2. Go to the new directory, (cd dripkg/), and type ./install.sh. This will install the driver for you. You are now ready to configure XFree86, either by running xf86config or by editing the config file manually. The configuration process is exactly the same as in Section 4.1, so just follow the configuration steps there.
You are now ready to run XFree86!