How do I configure Windows Remote Assistance through Group Policy?

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http://serverfault.com – Our Domain Controllers run on Server 2008 R2 and the majority of our client machines run Windows 7. We are going to be moving our office to two different locations and I need to be able to offer remote assistance to their machines so I can solve helpdesk issues from my location. I'm usually the Mac OS/Linux guy, but our Windows guy quit so I'm trying to learn and take over the windows responsibly as well, so I'm pretty new to the GPO stuff. (HowTos)