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There's always Fog Creek Copilot.
http://www.copilot.com/
Disclaimer: I've never tried it.
I have and I highly recommend it if you have to support a remote machine that you haven't already installed vnc or something similar on. It works even in the most restrictive of network situations. Both ends can be firewalled and natted and it still works (it uses port 80 and http proxies if needed, to talk to a central server).
For the person you are helping out the "install" is extremely easy, as there is no install as such, just a download of a single exe.
Copilot uses the vnc codebase, so performance is similar (unless both ends end up using an http proxy of course)...
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Remind me to change my signature to something more interesting someday