I was looking for a free utility to do this, and after some googling I bumped into JM2PC.
Following the instructions in its Readme.TXT file, you can have your mobile remote control up and running within minutes, so I definitely recommend it.
Another interesting freebie is MobileWitch, which at first glance seems similar, so you might want to check it out as well.
If you’re willing to pay (I’m not a great believer of paid software), Vectir might be what you’re after.
