If you both have a PC and msn messenger , a webcam and a microphone then thats a very simple way to do it. 128kbit/s is more than enough if you only want to send and receive a small blury video window ;-)
If one end does not have a PC or they are a technophobe parent then you can use a stand alone video conferencing system.
I installed one in my parents house in the UK. I signed up Metronet as the UK broadband ADSL provider ( 11 quid a month for low usage) and installed a Dlink "i2eye" videoconf box. Metronet is good as it allocates a fixed IP address.
All my parents have to do when it rings is pick up a cordless phone I attached to the i2eye box and switch the lounge TV to the video input channel and there I am. No computer, no software to get confused with. The box has a built in webcam.
http://www.dlink.com/products/?sec=0&pid=8
256kbit/s is OK each way, the faster upload conection the better . Dont forget theres no benefit having 2Mbit/s download at one end if the other end is only using 128Kb for their upload spead. its the upload speed that limits the performance.
You will have to get someone who knows what they are doing to configure your modem and the Dlink box. Ideally buying a box for both ends is the simplest but as its a standards based box I use a PC in Australia using Netmeeting software to talk to the i2eye box in the UK. You will ideally need a fixed IP address at the UK end if you use a PC on the other end. it As the Oz PC end has no fixed IP address it means only I can place a call to parents , not the other way ( which is an advantage LOL )
If you have a i2eye box on both ends they will find each other automatically without a fixed IP address.
If all that sounds like too much trouble then buy a 3G mobile video phone at each end but be prepared to pay per minute!