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It's a feature of Mobile Me ("Back to My Mac") if you have an account. Not sure that feature alone is worth the $99 a year, but it does work well. For OS X 10.4, you might need to buy Apple's Remote Desktop app as I don't think the Back to My Mac feature was integrated in that version of the OS.
Chicken of the VNC is another, free, option. GoToMyPC is another paid option that I've heard good things about, but don't have any first-hand experience with.