Access users PC over VPN

Hello - I apologize if this is a dumb question (networking isn't our strong suit) but when a user is connected to VPN, shouldn't we be able to ping that PC and map drives, etc? The connected user can see our LAN just fine but we can't see the remote PC.

The PC gets a 10.10.10.x address and our LAN is on 192.168.1.x.

Is this just not possible or do I need a static route or something? We're using policy SSL VPNs.

Thanks!