I followed the following instructions from PC Magazine. However, the Control Panel shows up in the Quick Launch folder, but not on the Toolbar, even after restarting several times.

"There's another way to add a Control Panel icon with some interesting features. Launch Windows Explorer and navigate to the folder whose contents define the Quick Launch toolbar. Typically, it will be something like C:\Documents and Settings\username\Application Data\Microsoft\Internet Explorer\Quick Launch. Right-click on the right-hand pane, select New | Folder from the menu, and name the new folder Control Panel.{21EC2020-3AEA-1069-A2DD-08002B30309D}. This will create a Control Panel shortcut that uses the correct icon (though it may appear as a simple folder icon until you restart Windows). As a bonus, it will also have a ToolTip appropriate to the Control Panel.

But wait—there's more! Resize the Quick Launch toolbar so the new icon doesn't quite fit. A button with the » symbol will appear. Click on the button, and then click on the Control Panel menu item. You'll get a menu of all the Control Panel applets without having to open the Control Panel window."

The method described adds a Control Panel icon to Quick Launch only. To add the Control Panel to the Taskbar, use this method.

Right-click a clear spot on the Taskbar, then point to Toolbars and click New Toolbar. Click Control Panel and OK.

At the left of the Control Panel toolbar, click and drag the separator bar leftward, until the toolbar and the Taskbar swap places. You can now resize the toolbar by clicking and dragging the righmost separator bar toward the left.

If you prefer, you may of course position the Control Panel toolbar (or any other toolbar) at the right of the Taskbar.

NOTE: Opening the Quick Launch folder by the method PC Magazine describes is confusing and awkward. To open the folder, right-click a clear spot in the Quick Launch bar (or the separator bar at the left) and click Open.

Thanks Tom --
I now have a Control Panel toolbar on the Taskbar!

You're welcome, Becky. If you find the Control Panel toolbar handy, you may like a My Computer toolbar even better. Use the same method but click My Computer and OK. This give access to all the drives, printers, Control Panel tools, and more.