How to enable sharing between two computer ??

Hello,
mY name is Phani. I would like to know whether I can establish a connection between my Home Computer and Office Computer. Anyhow both System's were connected with Internet. Is there any software which supports these types of sharing?? (As I am not sure what to say to these type of connections I think this is also called as Remote Destop Sharing) Please Help me in this regard. I am very much thankfull for your help. Please provide me the links where I can download these type of softwares iff applicable..