I've been using GLScene with Delphi 2010 for quite some time now
I had previously got Delphi 2009 to work by a google search (GLScene
install Delphi 2009)
This led me to a link with a rapid share download, and some paths to
put in the tools-options-lib paths
I did pretty much the exact same thing for Delphi 2010, except added
my own dpk/dproj and ifdef directive and it worked.
I think the link was this, but there was also an english equivalent to
it somewhere
http://www.delphifr.com/forum/sujet-INSTALLATION-GLSCENE-AVEC-DELPHI-2009_1227568.aspx