A remote control method between mobile devices and a system thereof are provided. The system includes a server including a control command list for controlling a help-requesting device. The server authenticates a remote control authorization of a control device and relays a data packet communication between the help-requesting device and the control device. The help-requesting device transmits a help request message to the control device through the server. The control device acquires the authorization to remotely control the help-requesting device from the server and then transmits a control command for controlling the help-requesting device to the help-requesting device through the server. The help-requesting device executes the received control command and then transmits execution result data to the control device through the server. The control device outputs the execution result data received from the help-requesting device.