I've worked out the last steps:

sudo mv /boot /boot1
sudo ln -s /md0/boot /boot
sudo update-initramfs -k 2.6.22-14-generic -c -t
sudo update-initramfs -k 2.6.22-14-386 -c -t

I was confused because I did not have 2.6.20-22-generic, but guessed I
should used the latest one.

I can now boot from either one of the above kernels.

-- 
/dev/md0 does not exist. Dropping to a shell.
https://bugs.launchpad.net/bugs/128313
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