To open my desktop at work from my home PC, I simply double click a remote desktop connection icon, with the remote desktop gateway section filled. The Windows remote desktop gateway service at the office does manage the VPN tunnel and forwards the RDP session to the relevant machine. This does not disrupt the regular networking of the home PC, because the SSL VPN is limited to the RDP session. It is not the most secure setup available, but still pretty good on a security standpoint, cheap and brain dead simple.
I still remember the time before the widespread adoption of Windows 2000, when I had to go at the office after dinner to reboot servers; the wonderful Windows NT had a scheduler, but let'say it was not perfect. That was a pain.