I installed Ubuntu 13.10, and after rebooting my computer does not go into grub and just straight up boots into Ubuntu. I am currently dual-booting windows 7 with Ubuntu, so I would like to know how I can still access windows 7.
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Use an easy to use GUI app called grub-customizer.
You can install it by:
sudo add-apt-repository ppa:danielrichter2007/grub-customizer
sudo apt-get update
sudo apt-get install grub-customizer
In the settings: if you set/add the GRUB_TIMEOUT directive and change the value to -1, you will cause GRUB2 to pause until you make a decision, which seems to be what you're looking for.

Sources: How do I change the GRUB boot order?
https://superuser.com/questions/395373/how-do-i-prevent-grub2-from-automatically-booting-into-an-os
Alternatively,
In case your grub2 is hidden and never shows then try Boot-repair.
Open a new Terminal, then type + enter:
sudo add-apt-repository ppa:yannubuntu/boot-repair && sudo apt-get update
and then enter
sudo apt-get install -y boot-repair && (boot-repair &)

See advanced tab and check unhide boot menu.

Jonathan Rogiest
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