Ubuntu should already have a vnc server running on port 5900. The last 0 in this is the display number, and 0 refers to the default desktop. Additional desktops can be generated, but we shouldn't have to do that now.
You can / may need to install a vnc server with sudo apt-get install vnc4server
- Search for 'Desktop Sharing' and open the preference pane that comes up.
- Check 'Allow Others to Use Your Desktop' and 'Allow Others to Control Your Desktop' to enable access