VPN v. Terminal Server

I started with looking into a VPN but couln’t make it work and am currently just using terminal server(TS). Win2K Server and work and home, both connected by cable. TS is neat but I think it would be more productive to set up a VPN. I have tried on several occasions and got it to work sporadically and when I did, I couldn’t connect to network resources at work….i.e. past the server. The network at work has 3 systems, win2k server and 2 win2k pro machines, network works fine, web is shared through server, it works fine. Has anyone had to do this? and how.
thanks