Connecting to XP sp2 machines by VPN

I have Win 2003SBS and several Win XP sp2 standalone remote machines.
I need to collect simple files from the XP machines using the 2003SBS and
the internet on a daily basis.
I have set XP machines as VPN servers
I can connect to these machines from the 2003SBS by VPN no problem

My problem is this.

When I try to map a drive in 2003SBS to the shared folder on the XP machine
I am unable to do so except when the Windows firewall is switched off on the
XP machine.
When the XP firewall is off every thing works fine.
What do I have to do to the firewall to allow access to the shared folder,
because I would rather not leave the firewall turned off permanently.

Thanks for any help

.

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