From the onsite computer run Regedit.
In Regedit:
File-->Connect Network Registry
In the 'Select Computer' dialogue make sure that the 'Look In' location is correct(should be your domain if applicable)type in the computer name or IP that you want to connect to then click Ok.
Now expand:
<computername>HKLM\SYSTEM\CurrentControlSet\Control\Terminal Server
Once you've opened that key look for fDenyTSConnection
Set it to a value of 0 <--a zero
The computer will have to restart for the change to take effect.