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There you could run the command: msra.exe /offerra If you want to help other people with the remote session and require them to watch you could use "Windows Remote Assistance" instead, but would probably need to connect to a "proxy" windows computer first (unless there is linux support for it) This is helpful if the Windows PC is some kind of public info display, but not if you want to work on the computer and have others watch what you are doing. It will disconnect the RDP session and give it back to the console session.
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If it is ok to connect to the Windows 7 PC, lock the screen and then unlock it after leaving you can use the command: tscon.exe %sessionname% /dest:console There are several possible workarounds but each one has a different catch, so it might still not be possible to get you what you want.
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