Best way to upgrade to new kernel on dedicated server?

I just tried to upgrade from linux kernel 2.4.18 to 2.4.21 on a dedicated server. Compiled the new kernel, updated lilo, rebooted, and nothing. Best way to upgrade to new kernel on dedicated server? I think I know what the problem is, but I can't do much about it, since I am not at the console.

I am new to dedicated hosting, so I am trying to figure out the best way to go about this (next time). Before this, I used my own server colo'ed at a local DC. I would just go there when doing this type of thing (since it often doesn't work on the first try).

Luckily I just got the server, so nobody is on it. What is the best practice for upgrading the kernel on a live server that can't afford any downtime?

Thanks!
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