wget http://apt.sw.be/redhat/el5/en/x86_64/rpmforge/RPMS/rpmforge-release-0.5.2-2.el5.rf.x86_64.rpm
rpm --import http://apt.sw.be/RPM-GPG-KEY.dag.txt
rpm -K rpmforge-release-0.5.2-2.el5.rf.*.rpm
rpm -i rpmforge-release-0.5.2-2.el5.rf.*.rpm
yum install '*mercurial*'

[root@~]# hg version
Mercurial Distributed SCM (version 2.2.2)
(see http://mercurial.selenic.com for more information)

Copyright (C) 2005-2012 Matt Mackall and others
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.