Connect them, make sure they are in the same workgroup name (default is "workgroup"), make sure the Win95 machine has Microsoft NetBeui protocol installed in its networking screen, and that the XP system has File and Printer sharing enabled in its networking screen.

Then share the A and/or C drive on the old machine, head to Network Neighbourhood on the XP machine, and you SHOULD see it. I say SHOULD because this amost never works right away