To do this you'll need to follow the directions in the above link, but it turns out they no longer work for 10.2 disks.
If you have 10.2 disks, there's an updated version of the Software Restore application that you need to download from Apple:
Mac OS X 10.4: Restoring applications from a Mac OS X 10.2 Software Restore disc
...If you have Mac OS X 10.4 Tiger already installed and you want to restore your Mac OS X 10.2.x computer-specific software, you can use the version of Software Restore available below...