I see the same problem. I converted from a non-raid single disk system to a 2 
disk raid1 system. I've tried 
# grub-install /dev/sda
Installation finished. No error reported.
# grub-install /dev/md0
/usr/sbin/grub-setup: warn: Attempting to install GRUB to a partition instead 
of the MBR.  This is a BAD idea..
/usr/sbin/grub-setup: error: embedding is not possible, but this is required 
when the root device is on a RAID array or LVM volume.

No matter what when booting I get 
error: fd0 Cannot get C/H/S values

One thing to note, when using grub2 1.97 the error is:
error: Cannot get C/H/S values
but using  (GNU GRUB 1.98~20100128-1ubuntu3) the error is:
error:  fd0 Cannot get C/H/S values (grub 1.97 doesn't have the "fd0")

I'm able to "recover" from the grub-rescue prompt by doing the insmod linux as 
mentioned or:
grub rescue> insmod normal
grub rescue> normal
I am then presented with the boot menu and it proceeds as it should.

Is it an issue with the raid or linux or normal module not getting
loaded early enough? How can I tell the order the modules are loaded?
How can I change the order?

I have the output from 
#grub-install --debug /dev/md0 (or /dev/sda) if that would help.

-- 
GRUB2 boots from raid1 device only after "grub rescue> insmod linux" + 
"rescue:grub> normal"
https://bugs.launchpad.net/bugs/493268
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