Problem with setting up a remote connection

We would like to set up a VPN in order to access my remote desktop from home. My home PC uses Windows XP, the server at work uses Windows SBS 2003 SP2, and my work desktop runs Windows 2000 Professional. I can access the Server’s desktop from home, however my work pc does not even show up as available, although I can “see” my computer at the Server end.

Any help would be appreciated!