Comment 18 for bug 484102

Grub can not be in the MBR if you are using truecrypt, since it requires the embed area to function. You must therefore, install grub to the partition and truecrypt to the MBR.

You have to press escape to get to grub because truecrypt is in the MBR, and you need to press escape to bypass truecrypt, and load grub in the partition boot sector. If your goal is to boot windows, then you should not press escape to get to grub.