It's tricky, naturally risky, and takes some time. It can be done, but you shouldn't try anything like this without a backup (unless you really don't care about losing all your stuff, but if you didn't at all, then you wouldn't be asking this question).
The details depend on the particular RAID implementation.
With nVIDIA RAID, there are a few issues to be aware of:
1. The nVIDIA Raid Management tool is installed with the nVIDIA SATA chipset drivers only when RAID is enabled for some ports in the BIOS.
2. You need to migrate arrays to add drives, and that can only be done with the RAID management tool, and to migrate you need a RAID array to start. So you're either stuck, or have to start off somehow with a single drive RAID "array" -- you do this with a single drive RAID 0 "array".
You create a RAID 0 array, and add only one drive. For practical purposes, this is just a simple single drive that uses the nVIDIA RAID drivers. It gets recognized by the RAID management tool, and can be migrated to some other array types including a proper 2-drive RAID 0. This step takes a long time, as a lot of data has to be shuffled (the RAID tools typically don't know the file system, so work blindly moving the entire drive, regardless of how full the drive is with file system data).
3. Typically RAID expansion is done, but the file system stays unchanged. This means that the partition size is left unchanged after the RAID array is expanded. You need to use some other tools to expand the partition or to create another partition as desired.
The above come with no guarantees of success, etc. I avoid doing this sort of thing personally by installing the OS on a separate drive from the RAID arrays.