So earlier I had one solution for connecting to a Xen domU instance that you had created, but I just came across another, more native way and I thought I should include it up here.

Once you have created your domU guest you can find it’s domain id by entering:

xe vm-list params=dom-id uuid=<uuid-of-vm> --minimal

That will give you the domain id and then you just plug that into:

/usr/lib/xen/bin/xenconsole <dom-id>

and you are off to the races.

I would like to credit the XVP installation guide for pointing that out to me:
http://www.xvpsource.org/?topic=build&page=appliancevm