You can set one of your Win2K pro machines to answer incoming connections, including VPN's. This is straight forward enough as there is a new connection wizard that you can follow.
You will then need to make sure that the computer you have chosen has a static IP address and is left on when you want to VPN in from home.
When you have done all of that you need to set up your Netgear router to allow the VPN traffic into your network and to NAT it to the IP address of the PC that you have chosen to answer incoming connections. You will need to NAT tcp port 1723 to the ip address of the 2000 box.