Setting up VPN Connection

I want to access my home network remotely. My home settings include a comcast cable connection, windows xp desktop as the main computer on the network and a linksys wireless G router. I just managed to setup a file and printer sharing yesterday (I have a laptop as well).

Since I’m assigned a dynamic IP address by comcast, I have learnt from another member that I have to sign up with dyndns.org to get a static host name tied to the fluctuating IP address.

My questions is, once I set it up at home, what else do I need to do to access my home pc remotely (such as from work?).

I will really appreciate if someone can guide me in the right direction.

Kamran