Controlling Remote Computer without "asking" and "receiving" permission?

I have RD 3.3 installed on both my mac at work and at home. I'd like to connect to
my mac at work from home, but always get the message: "Do you want to ask permission
to control the remote machine"...and I'm not on the other end (i.e. at work) to respond and give the permission.
Can this feature be disabled so you can just take control (assuming of course you have the
username and password)? If so, where do you disable it and on which machine(s)?
Thanks for any assistance.

Thanks for reply.
I posted this here, because I am the opinion that the symptoms seemed very similar. Also problems with name resolution between Apple clients (whole network not only this LAN segment). Also this strange NIC addresses on any of the Apples where I installed ARD Admin.
To the point - many using ARD:
You are right - ARD seems to be a very reliable solution. It was for us, too. Until 26th of November it worked very reasonable and flawless.
After installation of that weird update however things went nasty. First we had trouble with IPP - workaround was to use native HP drivers instead of LPD.
Next we discovered that ARD does not function beyond networking segments at all. Neither ScreenSharing nor management functions through ARD Admin. I finally did a radical step on several boxes and reinstalled ARD following this kb article here: http://support.apple.com/kb/HT2577
As previously mentioned having no mDNS on Apple machines anymore. One of the consequences Bonjour is not working as it should. No network printer detection and things like that.But: mDNS service is running, ARDagent on any of the machines.
Only machines noted in local /etc/hosts are known. ARD admin does not detect remote clients running ARDagent anymore (one effect: It does not show what client version is running).
After new installation of Admin: First login to a remote machine to get control over, the login dialog appears to ask for user name and password for target machine (of course user/pswd and rights are set on host to get control). But if at a later time you are using info dialog for that remotely controlled Apple in ARDadmin the edit button to edit username password entries is missing.
Strangely one customer using an older machine with 10.4.x this one can! be controled at least via screensharing (from ARD admin). Management functions to this machine are not possible, too.
When setting VNC params then remote login using VNC (f.i. ChickenOf...) things working immediately.
To clearify it:
We having NOT a homogene Apple but a mixed environment using Linux boxes as PDCs (Primary Domain Controllers) also Windows clients are running there. Therefore no central user db with central sign in server is available. There is NO! OSX server. Additionally the network spreads over several VPN tunneled connections.
So - if anyone having an idea what is wrong/broken/damaged whatever, please let me know.
Thanks in advance.
rob

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