Securely?
Implement a reverse proxy providing an SSL tunnel at the edge, a hard token authentication server which goes and verifies your login. Don't forget a client hardware authentication certificate exchange.
Depending on your configuration, GotoMyPC or Webex with the two factor authentication (SMS text of a PIN to your cell), or a something using SSH. I have all three work quite well.
What is your budget? What kind of servers will you be accessing? What kind of machines are you accessing the servers from? What are you planning to do on the connection? What kind of bandwidth will you have available?
There are so many variables without knowing your server and uses it is hard to narrow the field. Can you give a bit more?
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