OS X Screen Sharing Application

Use the OS X Screen Sharing Application similar to Windows Remote Desktop Connection.

/System/Library/CoreServices/Screen Sharing.app

$ open "/System/Library/CoreServices/Applications/Screen Sharing.app"
$ open "/System/Library/CoreServices/Applications/Screen Sharing.app" vnc://hostname

For older systems use:
$ open "/System/Library/CoreServices/Screen Sharing.app"
$ open "/System/Library/CoreServices/Screen Sharing.app" vnc://hostname

Screen sharing on OS X