best way to parse xml in php

I have been looking at a few examples on parsing xml in php but everything seems complex.

My XML code looks like the following:

Code:

---

<RESULTS>
 <LISTING>
  <RANK>1</RANK>
  <TITLE>my title</TITLE>
  <DESCRIPTION>my description</DESCRIPTION>
  <SITEHOST>http://domain.com</SITEHOST>
  <LINK>http://test.com</LINK>
 </LISTING>
<LISTING>
  <RANK>2</RANK>
  <TITLE>other title</TITLE>
  <DESCRIPTION>other description</DESCRIPTION>
  <SITEHOST>http://otherdomain.com</SITEHOST>
  <LINK>http://othertest.com</LINK>
</LISTING>
</RESULTS>

---

I am trying to get it so for each Listing section I can pull the title, description and link info and make a link on my page.

HTML Code:

---

<a href="http://test.com">My Title</a><br>my description<br>
<a href="http://othertest.com">Other Title</a><br>other description<br>

---

Does anyone have a easy example that works with my versions?

What I am working with:
PHP Version 4.1.2
XML Support:active
XML Namespace Support:active
EXPAT Version:expat_1.95.2
MySQL Ver: 3.23.49
DOM/XML:enabled
libxml Version:2.4.19
XPath Support:enabled
XPointer Support:enabled