set-up remote access

set-up a good system in order to access remotely 2 computers. Both computers are connected via cable connection, with routers. One computer has windows 2000, the other XP professional. I have tryed using remote software like tightvnc however its not working, i believe that is related with the routers. If you are experienced with remote connectection between computers and setting up and configure routers, please bid. This should be a fast and easy thing to do, please bid accordingly.