I'd like to try nsanto17's method first, then shackdaddy's so I can understand both.
Found the lease list and did an ipconfig /all on the vpn workstation to get the ip.
I then clicked the offer remote assistance icon in the server and typed the ip, but no luck.
I checked the workstation and allow remote desktop was off so I turned it on, but, the only user options to use it were local to that workstation name. It doesn't allow me to add domainname\user. The workstation was never joined to the domain, it just connects to the VPN.
Do I have to join it to the domain first before I can remote it? Also, am I trying to remote it correctly by using the "Offer remote assistance" link?