There are multiple ways you can do this.

You will need to make sure you poke sufficient holes in your firewall in order to get this to work such as Remote Desktop or File and Printer Sharing.

The simplest would be to at a command prompt, type Net Use * \\<RemoteComputer>\<Share>. This will map a drive letter to the remote share. (You could skip the CLI and just type the \\<RemoteComputer>\<Share> at the run prompt. you'll be asked for credentials. root drive shares end in $. i.e. C$

You can use Remote Desktop (MSTSC.exe /console /v:<RemoteComputer). This will allow you to view the desktop and act as if you were physically on the box.

Hope this helps,