As you are running XP Pro, you can use Microsoft default RDC tool in order to connect to Win95 machine, provided both XP and Win 95 are on same network. If they are on different networks, you can use 3rd part remote support tools such logmeinrescue, gosupportnow, GoToMyPC etc. or can even consider deploying on premise remote support appliance such as Bomgar or RHUB appliances in order to establish remote connection.
That's pretty sound advice man. To bad you're 9.5 years to late....