In the past I have used FolderShare (http://www.foldershare.com/) very successfully. It syncs peer to peer between multiple computers, and allows you to log in and access files remotely when you are away from home.
I have used it to sync between a desktop at work computer and a desktop and a laptop at home. You don't even need to take the laptop into work to sync it - it's all done remotely, although it is faster initially if both computers do start with a copy of the same files. That way FolderShare doesn't actually have to copy all the files across from one to the other, but will just keep them in sync from then on, regardless of which copy you update.
FlderShare is now owned by Microsoft and is due to be replaced in December by Windows Live Sync, which is essentially an upgraded version of FolderShare.