This depends on how the RAID is achieved. If it is a software raid, then the disks are actually not perfect copies of each other - only the partitions are mirrored, but not the bootloader.
The solution is to install the bootloader on the second drive. This can be done during runtime and should be safe. It will go something like this (assuming /dev/sdb is your second drive):
grub
device (hd0) /dev/sdb
root (hd0,0)
setup (hd0)
quit
The important part is this:
device (hd0) /dev/sdb
It tells the bootloader sdb is the first drive of your system, which is true only if the other drive failed. But since the bootloader of the second drive will only ever be executed if exactly that happens, it works.