Remote Access For Mapped Hard Drive

I have a mapped hard drive on my desktop that is running XP Pro. I like to use my laptop which is running Vista Home to access it. I have a D-Link DIR-655 wireless router. What I would like to do is to configure this so I can access this hard drive when I am travelling. Logmein isn't exactly what I'm looking for. I was told this could be done through VPN but I'm not really sure where to begin. I've searched the web but I'm probably not searching for the right things. Can someone help me out with this please?

Thank you. That worked out good for me. I had to figure out some things with the router settings that were a bit different but in all that was a very good tutorial to use. I have everything up and running and it's just what I was looking for.