Connect to Home Computer

I want to be able to connect to my home computer when I am not there. What is the best way to do this? I have a Linksys WRV54G router and there are 4 computers on my home network (Windows 2000 and Windows XP Pro)
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More about connect home computer
  1. here's one example:

    <A HREF="" target="_new">GoToMyPC</A>

    <pre> \|/
    jlanka (. .)
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