On Ubuntu, by default it will not display the grub menu. You must hold down the [shift] key on boot to display the menu - not [ESC] as was the case in earlier releases.
There are a few options to control this behaviour that can be set in the file: /etc/default/grub
If you want the menu to display every time, comment out the GRUB_HIDDEN_TIMEOUT setting by putting a '#' in front of it:
# GRUB_HIDDEN_TIMEOUT=0
You should also ensure the GRUB_TIMEOUT setting has a value greater than or equal to 1:
GRUB_TIMEOUT=10
If you make any changes to the file, you must run the command:
I assume you have a GRUB2 on your system (it's the default on Ubuntu).
When you boot, and as soon as the POST are running, hold the [ESC] key, it should spawn the grub menu. Edit, boot and edit the grub just as Angel Leon tells you (or perhaps somewhere in /etc/default/grub).