as bumnut53 said you can use logmein, or teamviewer, there is also join.me
if you are looking to be able to remote whenever you want you will need to use either logmein or teamviewer
last i checked you can use both for home use free but need a license for commercial.
i have used both but like teamviewer. thing to mention is that if you want to leave it on all the time, take the time to setup a profile and master password and then have (under options and advance) that the single use password is at least 8 characters and changes after each log on (for security) but the master in the profile will over ride that.
this way if you ever need to give someone else access you give the password that it generates and after they log off the password will change and they cannot just get in when they want but only you can. also, with teamviewer you can set it to connect via vpn