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Dec 5, 2013 11:49 AM in response to Nicolas296by Drew Reece,Isn't this what Back to My Mac is does within iCloud…
http://support.apple.com/kb/HT4907
That's assuming you can associate your own Apple ID to that Mac. It should allow you to remote access without requiring user intervention (as with Messages).
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Dec 5, 2013 11:53 AM in response to Drew Reeceby Csound1,That service is designed to allow access to your own Mac from a remote site, not exactly what the OP wants. Linc's method works, I prefer TeamViewer,, and it's free (for personal use)
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Dec 7, 2013 1:25 PM in response to Nicolas296by Ralph Johns (UK),Hi,
iChat and Messages 7 in Mountain Lion could do this as the remote end could be set to automatically accept a video invite.
The basic Auto Accept (Apple)script for this does have words to exclude Screen Sharing from this (but you could edit those out and save the edit and new Script).
In Messages 8 in Mavericks you no longer have access to the abilities to Auto Accept the Video and Audio invites as Apple removed the Alerts preference pane in the Messages Preferences.
This means that auto Accept can only be linked to the Messages Received option in the General Section of the app's Preferences.
There is a App within the Mac OS that can use the Apple Remote Desktop client engine that all Macs have.
This is the bit in the System Preferences > Sharing that can be set for Screen Sharing.
You then use the Finder > Go Menu > Go to Server and start with VNC://xxx.xxx.x.x
This is simple on your Mac the other computers on your LAN as they all start with IP addresses behind your router.
If the Finder is showing Shares then the option button that says Screen Share also invokes this method.
You can use it over the internet.
The VNC address then has to be the contact's Public IP address and their router set up to forward the data to their computer on their LAN.
This is where apps like TeamViewer come into their own.

9:25 pm Saturday; December 7, 2013 iMac 2.5Ghz 5i 2011 (Mavericks 10.9)
G4/1GhzDual MDD (Leopard 10.5.8)
MacBookPro 2Gb (Snow Leopard 10.6.8)
Mac OS X (10.6.8),
Couple of iPhones and an iPad