So, I wanted to give someone access to my Kali linux  box and this is what I did:

Starting up xrdp in kali linux  following steps

[email protected]:~# apt-get install xrdp
Reading package lists… Done
Building dependency tree
Reading state information… Done
xrdp is already the newest version.
The following packages were automatically installed and are no longer required:
libmeanwhile1 libmozjs24d libzephyr4 pidgin-data xulrunner-24.0
Use ‘apt-get autoremove’ to remove them.
0 upgraded, 0 newly installed, 0 to remove and 142 not upgraded.
[email protected]:~# /etc/init.d/xrdp start
[ ok ] Starting Remote Desktop Protocol server : xrdp sesman.
[email protected]:~#

/etc/init.d/xrdp start –  even though the port was opened through my router, the service did not start up automatically after reboot.

Now go to another Kali linux  box and do a:

rdesktop <remoteIP> and you will be presented with this screen.

xrdp in kali linux Remote Access Installation

I hope this helps someone. 🙂