First of all some idea of your hardware would be a good start. Then a recommendation can be made.
The XP machine and the Ubuntu machine are they the same or different machines, that was not quite clear.
So if you can supply a good breakdown of your hardware we can go from there.
1 being the existing machine
2 being the XP machine (if they aren't the same)
3 being whether you are using the Parallel Port or Mesa Hardware
The simplest route would be an install using the official debian based images or you may want to look here
forum.linuxcnc.org/9-installing-linuxcnc...t-19-2-with-linuxcnc
The first page list the releases from most recent to oldest.
Some people feel more comfortable with Mint others with Debian.