1. Install the Teamviewer Full version download from here: http://www.teamviewer.com/
2. Log in to the VPS via Remote Desktop Connection, install Teamviewer Host on the VPS: http://download.teamviewer.com/download/TeamViewer_Host_Setup.exe
Follow the instruction and setup password for the Teamviewer:
Now you will be able to connect to the VPS using the above ID and password set before.