You'll need to install the X11VNC port. Then you can ssh to system where you have a running X session, run x11vnc from within the SSH session, and then connect via VNC to the system.
You can also configure x11vnc to be your X server, so that it is always running. Just be sure to enable a strong password on it if you do. (This is what we do with our diskless clients in all the schools, so we can connect to their station for troubleshooting helpdesk calls.)
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