Without detailed information I can just provide a general answer. I will edit it if you provide more details.
Reading PCRs
There is a low-level Windows API you can use. Look at this question and its answer: Controlling TPM with C#.
Basically look at the documentation of TPM Base Services (TBS). You will need to implement the read command on your own.
There is an experimental port of TrouSerS for Windows.
Comparison of PCRs
A TPM on a PC platform will have 24 PCRs. In almost all cases the set of all 24 will not be the same on two different machines. In general you cannot alter it's values, especially not the "lower" ones representing firmware measurements. I guess what you are looking for is information whether a remote PC is in a trusted state or not. That's the holy grail. Get some literature on Trusted Computing and search the web for "trusted computing + attestation".