You can edit this registry value:
HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\Cdrom\Autorun
When it's set to 0 autorun is turned off for the CD drive. When the value is set to 1, then autorun works.
Or you could get TweakUI (one of the PowerToys Microsoft released for Windows). I believe the version used for Windows 2000 is 1.33. Don't try to use the Windows XP version. If you use TweakUI for this you need to look on the Paranoia tab for the settings for autorun of data and music CDs.
Ernie