Web Client
Web Client allows you to connect thru Internet Explorer. Limitation is that you will not be able to use your local printers and connect local drives to the office computer.
Note: you might be presented with warnings, you have to answer yes or agree to all of them. In Windows XP Service Pack 2, you have to click on the bar on top of the page and choose to Allow Blocked Content.

Windows XP (recommended)
If you have Windows XP, download this pre-configured shortcut to your desktop (tip: right-click and save).
Double-click on the shortcut and you will be presented with a login screen, just like you are in the office.

Backup connection Remote1

Windows 2000
Windows 2000 does not have remote client built-in into Windows.
If you have Windows 2000, download and install the client software first.
Then use pre-configured shortcut just like in the example for Windows XP above.