Using VNC would probably be the most easy solution, it has the advantage of "sharing a screen" of sorts which can be handy.
I believe that windows remote desktop services 'lock' the users session while the remote connection is active but I could be wrong.
rdesktop is suitable for working with the windows end of it but remember, XP Home only has the MS client, Pro and MCE have the server for it -> but VNC is just an install away on any machine.
-- side note
I've had to help a friend via remote a few times before, we usually use VNC, voice and text chat and his webcam when necessary.
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