PCAnywhere with its monthly costs is quite the ripoff, IMO.
Using VNC (or similar apps like RAdmin) over the Internet with dynamic IPs is, IMO, far too complicated to be practical for the average home user, though it may be appropriate for (and certainly easier to use with) home LANs.
Jer's suggestion to use MSN Messenger on Windows XP systems is a good one.
To add to it, I'll note that you don't need MSN Messenger to do it... The Remote Desktop Connection software MSN Messenger utilizes is pre-installed with Windows XP. To run it, click Start > All Programs > Accessories > Communications > Remote Desktop Connection. Note that both systems need to have
Windows Messenger, which comes preloaded with XP, installed for it to work.
From Microsoft:
Using Remote Assistance to Get Help When You Need It
Also note that although the link above says both computers need to be running XP, that is not the case. The client portion of Remote Desktop can be installed on all versions of Windows from Windows 95 up...
From Microsoft:
Remote Desktop Connection Software Download