Can I install SATA w/IDE hardrives ?

Hello All,
I am looking to add an additional HDD to my system, however all of my IDE connectors are full. I do have 2 open SATA connectors available on my mobo. Can I hook up a SATA HDD to one of these while still keeping and always booting from my IDE HDD? I have never used a SATA drive before. Do you just hook it up and then does XP just notice the SATA HDD as “Found new hardware” when it boots up. Thanks for the help!!!