Can't answer for Panther, but for 10.2.6 I did some research & can pass
on some information.  What follows are a few links, that I haven't
checked since around March, and a bit of information which may scare
you.  Quite likely some of the links are no longer valid.

http://www.thursby.com/products/dave.html   for a product that will cost
around $160 that does most work for you and you can skip the rest.

If you want to do it yourself for free, be prepared for some learning,
particularly if you're unfamiliar with both Macs & Unix, as I was.

I ended up going by pieces and after reading a bunch of stuff am sure
some of this is confusing.  Easiest seem to be to get the Mac to see the
Windows shared drives -- basically set up TCP/IP addresses, tone done
your firewall on Windows if you have it and then check out all websites.
Here are a few I found with Google.

http://web.mit.edu/is/help/macos/macosx/OSXfilesharing/
http://www.macwindows.com/
http://www.opensource.apple.com/projects/documentation/howto/html/osxsmb.html
http://www.macosxhints.com/article.php?story=20021017064855619

and you may need to update Samba on the Mac
http://xamba.sourceforge.net/ssp/index.shtml

All of the above should first get you getting to Windows shared files,
and also the printers from the Mac, but if you don't have postcript
printers, you'll have to add gimprint to the mac.   Take one step at a
time, and you'll make more progress.

The above also let you open shared drives on the Mac from Windows.   You
can also log into a terminal session on the Mac from Windows if you get
PuTty client for Windows, or you can use either computer to control the
other if you get VNC server & client.  

If all you want to do is swap a few files, you can also enable FTP
server on the Mac for the PC client to use.

To make life easiest for me, after first making Mac connection to PC to
mount a shared drive, I saved an alias in Favorites to speed up the
loading.   Whenever I want to control file transfers from the Mac I use
that alias to mount the shared drive on Windows.

On the PC end I took the information that the Mac Finder gave me about
where the Windows user could access, in my case (almost)
\\192.1.1.5\myname, and on Windows set up a simple batch file with the
one liner that said
net use Q:  \\192.1.1.5\myname
which saved trying to locate the Mac in the Network Neighborhood where
it never showed up the right way anyway -- never using the name I had
given it in the settings and often taking forever to appear, if it did
at all.   Then on the PC I could see any files on Q: that I had
permission to see.

Oh yes, TCP/IP is important, so you'll need to specify some ethernet IP
addresses in the same group -- I've always used 192.1.1.x, and a mask of
255.255.255.0.

Windows file sharing has to be occasionaly restarted on the Mac as well
for Windows to see & use the Mac files.

Good luck -- hope something in Panther has made it easier, or that I've
overlooked the easier ways to do it.