Need to set up a VPN from one site to another to access a program and have full control

I need to create a VPN between 2 Windows XP Pro PCs. i need nothing fancy, i have a static ip gateway at the host location and a DHCP gateway connection at the remote location.question is, How do i connect to the remote or vice versa when i am behind a  non-firewall router at both locations?  Thank you for any help
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Your going to like this. It is so painless This is a product that sets up a VPN so you can do just that. It tunnels it through port 80, but it is secure. You also don't have to do anything to your firewall and the best part is that it is free!

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Michael WorshamStaff Infrastructure ArchitectCommented:
If you are looking for a long-term solution, I recommend getting two VPN endpoint routers then setting up a gateway-to-gateway VPN tunnel between the two sites.

Example routers: Linksys BEFSX41 (Home Use), RV082 (SoHo/Business Use)
That's the best way to do it, I agree. But he said "simple" solution which I assume means he also doesn't want to buy any more routers.
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