Combining the panel and taskbar

[Brian Link]

Hello all!
I've been using linux in various forms for a few years now, and just
recently (read: yesterday) started using xfce, and I'm very impressed.
 However, my only peeve with everything is that I can not figure out
how to combine the panel and taskbar into just one bar (or if it is
even possible to do so).  I'm so used to the panel in KDE with
everything being as one, and the panel in windows XP (no real choice
of OS at work).
Thanks in advance,
Link