I'm aware of how to use VNC to share screens or grant remote control of your machine over the internet by using VNC or one of the web-based "go to my pc" type services.

If two computers are connected to a router (i.e. standard home network), is there an easier way of viewing and controlling one computer from the other?

I'd like to avoid going outside the LAN, onto the internet, then back in if possible.

Both machines are Windows XP, but I'm not looking for Remote Desktop by the way.