GNU/Linux Desktop Survival Guide by Graham Williams
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GRUB Configuration

The default GRUB configuration is found in /etc/default/grub:

GRUB_DEFAULT=0
GRUB_TIMEOUT_STYLE=hidden
GRUB_TIMEOUT=0
GRUB_DISTRIBUTOR=`lsb_release -i -s 2> /dev/null || echo Debian`
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
GRUB_CMDLINE_LINUX=""

For changes to take effect:

$ sudo update-grub

To display a menu at boot time:

GRUB_TIMEOUT_STYLE=menu
GRUB_TIMEOUT=5

To add kernel boot time configurations, for example:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash snd_hda_intel.dmic_detect=0"

Documentation is available from GNU. A good guide to multi-boot setup is http://www.tldp.org/HOWTO/Multiboot-with-GRUB.html. This latter resource looks at multi-booting four operating systems although the information is still useful if all you want is to multiboot just two.