The machine you are trying to connect to requires that port 3389 be open. How is the remote machine connected to the 'net? Standalone modem, or router, or even dialup. XP will usually automatically open port 3389 if Remote Assistance is enabled on the machine in question. Need to know if the machine connects directly via modem, or via a router, and which model of router if the latter is the case.
Your router is not really the problem, it's the other end that needs to open a port. However it may help. Type 192.168.0.1 directly into your browser address bar. You should see the netgear login screen. If it is wireless you should have set up a proper password but the defaults are `admin` and `password`. Go to the connected devices tab to see what IP address the machine you are using has been allocated by the router. now click Port Forwarding and add the service; port number 3389 and the IP address you just noted down. click apply, port 3389 is now open for that machine. I am assuming the set up pages are similar to the netear rp614, most netgear routers are.