New VPN Question

Okay, my turn for a VPN question.

I have the following situation:

I have a computer, at work, with VPN incoming connections enabled. It’s on one subdomain.

I have another computer, at home, with a set up VPN connection. Completely seperate subdomain.

What I’m looking to be able to do is browse my work machine’s directories from my home computer (and thus have access to my work files from home when I move away from the office in a week and a half). This is what I believe VPN should allow me to do; however the MS help in windows is opaque. Can someone give me a quick pointer/overview/rundown of the steps necessary to go about doing this?