1. Copy boot_enable_ssh.rc to boot.rc from /boot in the Raspberry Pi's rootfs (SD card)
2. Still in the Raspberry Pi's rootfs, edit /etc/network/interfaces in order to have a fixed IP address assigned (so no DHCP  server is needed). For example,

auto lo eth0

iface lo inet loopback

iface eth0 inet static

address 192.168.0.202

netmask 255.255.255.0

gateway 192.168.0.200




3. Boot your Raspberry Pi, use an Ethernet cable to connect it to the same network that your PC is connected to (or connect it directly to your PC) and login via SSH:

ssh pi@192.168.0.202




4. Install a light VNC server in your Raspberry Pi:

sudo apt-get install tightvncserver




5. Then start the VNC server (you'll be asked to set a password):

vncserver :1 -name RasPi -depth 16 -geometry 1600x900




6. Install a VNC client in your PC:

apt-get install xtightvncviewer




7. Then connect to your Raspberry Pi via VNC from your PC:

xtightvncviewer 192.168.0.202:1

It just works here in that way :)