I have done nearly exactly what you are trying to do. If you don't know python, it isn't going to be easy, NXT-python is the way to go but you can easily only control one motor at a time without getting into multiple threads which is.... Interesting to say the least and not for the faint hearted. Even though I very regularly use NXTs we decided it was not worth the work with NXT python unless you only have one motor to control at a time.
In saying that, there was a kickstarter a while back for an attachment for the pi (control or SPI or I2C, cant remember which) which allowed you to dump the NXT control unit and just use its motors and sensors.
*Edit* Found it http://www.dexterindustries.com/BrickPi/introduction/
No you can not use the NXT-G software, it is closed source and they have not made a version for the pi, there is no buts or ifs on this, it does not exist.
The easiest way to do it is right some web app to control it, or ssh into your pi from a distance, both will need a firewall port opened.
So if you are a 14 year old kid, without a pile of motivation to learn python and learn how to use the GPIO on the pi, or you want to shell out on the brickpi and learn some python, it isn't happening.
In saying all that, I did do it and wouldn't recommend someone else goes down that road, buy some motors, buy a motor controller and make a robot that way.
Also, don't go near teamviewer for the pi, even if you get it working, will run crazy slow.
If you have any further questions though on it, do ask
Lead developer of PiNet, a free and opensource centralised user accounts and file storage system for Raspberry Pi classrooms used in over 200 schools across the world.