First, let us know if your Mageia is using grub-legacy or grub2.
You did not tell us what grub your mageia is using.
So, I am writing this on the basis of you using grub2.
If grub-legacy, it will not apply, but it would cut a lot of your time and mine if you had told us at the beginning.
If your Ubuntu is at /dev/sdax and (hd0,x) ('x' is number) with label xxx and UUID xxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
Note for /dev/sdax, it is (hd0,x) for grub2 and (hd0,x-1) for grub-legacy
At Mageia grub menu, go to grub prompt.
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grub> insmod part_msdos
grub> insmod ext2
grub> search --no-floppy --fs-uuid --set=root xxxxxxxxxxxxxxxxxxxxxxx
grub> linux /vmlinuz root=UUID=xxxxxxxxxxxxxxxxxxxxx ro
grub> initrd /initrd.img
grub> boot
or
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grub> insmod part_msdos
grub> insmod ext2
grub> search --no-floppy --label --set=root xxx
grub> linux /vmlinuz root=LABEL=xxx ro
grub> initrd /initrd.img
grub> boot
or
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grub> insmod part_msdos
grub> insmod ext2
grub> set root=(hd0,x)
grub> linux (hd0,x)/vmlinuz root=/dev/sdax ro
grub> initrd (hd0,x)/initrd.img
grub> boot
if you use this, make sure it is (hd0,x) or (hd1,x)
to make sure, at beginning, "grub> ls"
You will then boot into Ubuntu, at Ubuntu terminal,
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sudo grub-install /dev/sda
sudo update-grub
Note you will then be using Ubuntu's grub menu with Mageia's entry in it as well.
Why do we live? To prove not everything in nature has a purpose.