If you can't boot normally or in Safe mode, You can boot to Safe Mode with Command Prompt.

NOTE: You can NOT start the System Restore tool from the Recovery Console.

After booting to Safe Mode with Command Prompt:

1. Log on with administrative privileges.

2. Type: %systemroot%\system32\restore\rstrui.exe and press Enter.

3. Follow the on-screen instructions.

See:

          Q302796 Troubleshooting System Restore in Windows XP

Q306084 How to Restore Windows XP to a Previous State