Can Windows XP Pro serve as a VPN host?

I would like to know if I can setup Windows XP Pro as a VPN server. In other words I have a Windows XP Pro computer behind a LINKSYS BEFSR41 router. I would like to be able to “dial” into that computer from either a computer at work, a friend?s house or on the road and work on that computer as if I am sitting in front of it. Will it work anything like PC Anywhere, or do I need to purchase a program like PC Anywhere? For full value of points, please explain step by step(or point me somewhere that has step by step instructions) to setup the XP computer as a VPN server. Are their additional servers/services, that I need to setup? Also, it would be nice to know what I need to configure on the Linksys router to allow access to the my XP computer.

Thanks…