There are 2 remote contol features included with WIin XP Pro: Remote Assistance and Remote Desktop. Both of these features use Terminal Services technology as used in Win2K Server.
Remote Assistance: from page 1470 of the Microsoft Windows XP Professioanl Resource Kit Documentation - "Remote Assistance requires that both computers are running a version of Microsoft Windows XP." If your clients are not running XP you can't use this feature.
Remote Desktop: from page 332 of the Microsoft Windows XP Professioanl Resource Kit Documentation - "Remote Desktop is based on Terminal Services technology. Using Remote Desktop, you can run application on a remote computer running Windows XP Professional from any other client running a Microsoft Windows operating system." You can install a client on any Windows computer, BUT, the computer to be remote controlled MUST be running Win XP Pro (or Win2K Server). This connection is only one-way - from the client computer to the Win XP Procomputer.
If the above conditions are satisfied, Terminal Services clients (to include Remote Desktop clients and Remote Assistance connections) use TCP port 3389, which must be open in any firewalls between the 2 ends.