Do you have an account on their PC? Or, more specifically, does it have more than one account, and do you have access to one of those accounts?
If so, then Start -> Accessories -> Remote Desktop Connection, enter the address of their computer and the username of the account you want to log in to (someone else can't already be logged in with that account, hence needing to have more than one), and click connect. Assuming no firewalls etc get in the way, that should log you straight into their PC remotely, and take you to the desktop.
There's also a Remote Assistance thing in Start -> Maintenance, which does something similar, except they have to send a request for you to help them, which you then accept (and I don't think you then need an account to log in, but I'm not sure). I've never used it, so I don't know how easy it is to do, or how exactly it works.
These features should both be available in XP, Vista, and 7, but they might be in a different place/have different names in XP.