The following was tested on Windows XP Pro. I imagine it will also work for home, and maybe for 2000. Beyond that, the directories are different, and you will just have to compensate for your version of Windows, and its directories. I would appreciate it if people with different versions of Windows would try this out and tell me if it works or not.
Ok, so its actually quite simple. Just browse to the following folder:
C:\Documents and Settings\<YOUR-USER-NAME>\Application Data\Microsoft\Internet Explorer\Quick Launch
Be sure to replace the <YOUR-USER-NAME> text with the username that you use for windows. Now that you are in the Quick Launch folder, you can add and arrange your icons to your liking. Enjoy!
Finished Product: