VPN question

hi,
I have strange problem and trying to solve it cost me a lot of time I have decided to ask some smarter people on the web. I have one PC with some
IP address that can be accessed only from one other PC with other IP address, I want to make another machine with VPN server on it thorugh which I can access first machine’s http:// can I do that this with windows server 2003 or not. And if I can do it any tips will be very usefull. Thanks a lot.