The official TeamViewer Android App is now available for download in beta form.
The app allows you to remotely access computers from your Android device while you are on the move. You can read the full details about the app here at the official site.
The beta version includes a time limit and can be used until 31-Jan-2011. The final version of the Android app will be free for personal use.
Update: If you are having trouble connecting, try installing the latest version of TeamViewer (v6.0.9796 beta) application on your computer.
You can download the app from here: http://www.teamviewer.com/download/mobile.aspx or the direct link below:
Download: TeamViewer for Android [938 Kb]