You can do that with Remote Desktop Web Connection with Windows XP.
Follow this steps :

Get Your Host Computer Ready

The Remote Desktop feature is only available in Windows XP Professional. It's not included with Windows XP Home Edition.

The first step in enabling Remote Desktop Web Connection is to install the necessary software
1. Open Control Panel click Add or Remove Programs, and then click Add/Remove Windows Components.

2. Click Internet Information Services, and then click Details.

3. In the Subcomponents of Internet Information Services list, click World Wide Web Service, and then click Details.

4. In the Subcomponents of World Wide Web Service list, select the Remote Desktop Web Connection check box, and then click OK.

5. In the Windows Components Wizard, click Next. Click Finish when the wizard has completed.

6. Click the Start button and click Run. Type Net Stop w3svc, and click OK. This temporarily stops the World Wide Web service to keep your system safe while you update it with security patches.

Configure Internet Information Services

By default, IIS is identified on your computer by the TCP port number 80. The steps in this section change the TCP port number and make it much more difficult for a potential attacker to communicate with your computer.

1. Open Control Panel, click Performance and Maintenance, and then click Administrative Tools. Double-click Internet Information Services.

2. In the ISS snap-in, expand your computer name, expand Web Sites, right-click Default Web Site, and then click Properties.

3. On the Web Site tab, change the value for TCP Port. Enter a number between 1000 and 65535 that you can remember easily, such as the month and day of a birthday or anniversary. You'll need to know the TCP Port when you connect to the computer in the future.

4. Click OK, and close the Internet Information Services snap-in.

Configure Remote Desktop

1. Right-click My Computer, and click Properties.

2. On the Remote tab, click the Allow users to connect remotely to this computer check box.

3. Click Select Remote Users, and then click Add.

4. In the Select Users dialog box, type the name of the user and then click OK. Click OK again to return to the System Properties dialog box, and then click OK to close it.

Connect to Your Desktop

Computers are identified on the Internet using a unique IP address. To connect to your home computer from the Internet, you'll need to know your home IP address. Visit one of these sites from your home computer to learn your IP address: http://www.whatismyip.com/

1. Open Internet Explorer, and enter the URL http://ipaddress:port/tsweb/. For example, if your IP address is 192.168.1.120, and you chose the TCP Port 1374, you would enter the URL http://192.168.1.120:1374/tsweb/.

2. If you're prompted to install the Remote Desktop ActiveX control, click Yes.

3. On the Remote Desktop Web Connection page, shown in Figure 2, click Connect. You don't need to fill in the Server field. If you leave the Size field set to Full-screen, the remote desktop will take over your local desktop.

4. Enter your user name and password at the Windows logon prompt, and then click OK. You'll see your desktop, complete with any windows that were left open the last time you used the computer.

When you're done, disconnect by closing the browser, or clicking the X at the top of the screen in full-screen mode. Be sure to close all browser windows. Your user name and password aren't stored, so you don't have to worry about someone else accessing your system.