Hello and welcome to Tom's Hardware Forums.
So long as your XP desktop has a wirreless adapter, you shoul db eseeing an icon in the bottom right hand corner of the screen - the systray - of a monitor with brackets to its right and a red cross through it. Right click taht and you should see "View available wireless networks", choose yours and enter the security key you used when you set up Windows 7.
If you use the cable that came with your router or MODEM to connect the desktop direct to it, can the desktop get online? Are you certain there is a wireless adapter in that desktop PC and that it has the riight drivers?