Unable to complete yum update more space needed on the /boot filesystem.

Issue

Transaction Summary
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Install      35 Package(s)
Upgrade     433 Package(s)

Total download size: 438 M
Is this ok [y/N]: y
Downloading Packages:
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Total                                                                                                  170 MB/s | 438 MB     00:02
Running rpm_check_debug
Running Transaction Test

Transaction Check Error:
  installing package grub-1:0.97-99.el6.x86_64 needs 4KB on the /boot filesystem
  installing package kernel-2.6.32-696.el6.x86_64 needs 29MB on the /boot filesystem

Error Summary

Disk Requirements:
  At least 29MB more space needed on the /boot filesystem.