Connect to Work PC

Hi
My boss and IT department have advised me that I can connect to my work PC from my home laptop via RDP my boss did quickly show me how to do it, but I can't seem to get it to work. I have the link I need to put in to access the terminal server along with my PC name, but I don't know how to access the terminal server, is thin Remote Desktop, or elsewhere I also have VPN details but can't get into the VPN part of Remote Desktop to key in the details.
Can anyone help me by giving me step by step instructions to use either. Any help would be appreciated.
Thanks in advance.