Assuming that you have a router, connect both machines to it. Ensure that they are both members of the same work group.
Create a shared folder on the old machine and ensure that you can access it from Vista (ideally use the same login name and password on both machines)
On the old machine, click Start/Programs/Accessories/System Tools/Files and settings transfer wizard.
Save the result in the shared folder.
On the Vista machine use the same program to import the files and settings from the shared folder on the XP machine.
This will copy all your essential stuf (like e-mail, documents etc.)
Any other data you have you can manually copy across (by sharing the appropriate folder)
By Hardware, I assume that you mean peripherals such as printers, etc. You will need to download the Vista drivers for each one from the manufacturer's web site and install to the Vista machine.
You will need to install you antivirus software separately, but why not take the opportunity to bin the totally cr@ppy Norton, and replace it with something better like Avast.