Is this at a company where you work, or a company that you own? The reason I ask is because if you're an employee of the company, they may have security policies that don't allow you to do this (or only allow it with a specific program/method). If this is the case, you should ask the IT department for permission and instructions to do it properly on their network.
If it's a small office that you own (or have permission to do whatever you like to connect from home) then teamviewer or gotomypc should work nicely.