Load up Disk Management console (Control Panel, Administritive Tools, Computer Management, Disk Management) and you will see a list of disk and partitions. One of the partitions should be quite small, a few 100MB is size, which is the EFI system Partition, which will contain the boot files. If it is missing, too small, empty or corrupted in any way, it could explain why you get this error. You may have to repartition the disk to create a valid boot partition.
If you have the BootCamp tools installed on Windows, you can select the 'Restart to Mac OS X' option in the icon in the System tray (bottom right of screen where date/time is shown).
If you have the BootCamp tools installed on Windows, you can select the 'Restart to Mac OS X' option in the icon in the System tray (bottom right of screen where date/time is shown).