Connect to home PC from Work to transfer files.

How can I remotely access my PC at home from my work machine.

Both machines run XP Pro and both have fast internet connections.

I want to be able to transfer files to and from my work place (basically I do a lot of work at home and don't want to have to carry USB pen-drives, external HDDs etc.

I assume I'll have to create some sort of VPN tunnel, but I'm not overtly worried about the security (obviously it would be nice, but the files I work on at home are in no way sensitive or confidential)

My the machines are always on and always connected, but obviously I wouldn't be able to accept any incoming connections on my home machine - it would have to automatically accept - presumably with some sort of password authentication.

I would also point out that both machines are behind firewalls and routers at home it's a netgear DG835g router - and I have no idea as to the work one therefore if it were possible to connect to my machine using a web browser - I know those ports are open.

I know a little about computers and networking, but am by no means an expert! Basically, what software (preferably open source / free-ware) would I need, and is there adequate documentation / tutorials for a novice to be able to learn!

many thanks,

Alex.