How to remote 2nd server in 2nd LAN?

What do I need to do to (remotely) take over server with an IP 192.168.200.1 (in 2nd network)while I receive an DHCP IP adres from server with IP 192.168.100.1? With Remote Desktop I can login on another server with an IP 192.168.100.150. All servers works with Windows 2000 server OS and installed Terminal Services in remote mode.