TeamViewer QuickSupport, available now FREE from the Play Store, allows you to remote control your Samsung device (provided it's running Android 2.3 or later and a Samsung 'TouchWiz' ROM - the Nexus isn't supported) using the TeamViewer 7 app on Windows / Mac / Linux.
The application uses 256 bit AES session encoding for secure peace of mind and i've had a quick play and it works great! I consider this quite a win for Samsung devices, I wish my One X supported it.
Head on over to the Google Play Store to download.
Click here to view the item