Connecting to work laptop from Home PC running Windows 7

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Here is my setup:

 

Work laptop running Windows XP : This one has the VPN setup to get me into work.

Home PC running Windows 7.

 

I would like to easily *switch* to my work laptop from my home PC and vice-versa without using any extra hardware. Home PC has the peripherals - monitor/kb/mouse connected to it and I'd like to continue using them.

 

The home computer will NOT be inside the VPN but the work laptop will be.

 

What's the best way to achieve this ? Will the VNC setup work once the work laptop is inside the VPN.

 

Thanks,

PB