# To install:
tar -zxf MesaLib-5.0.2.tar.gz
tar -zxf MesaDemos-5.0.2.tar.gz
cd Mesa-5.0.2
./configure --prefix=/usr
make
make install

I Still had to go into 
src-glut
and 
make install

See http://phantom.byu.edu/pipermail/newbies/2003-May/000159.html