Add the reference to http://tfsserver/VersionControl/v1.0/Repository.asmx
In the example this reference's name is ws
ws.Repository rep = new ws.Repository();
rep.UseDefaultCredentials = false;
rep.Credentials = new NetworkCredential(user, pass, domain);
ws.ItemSpec itemspec = new ws.ItemSpec();
itemspec.item = tfspath; // ex $/
itemspec.recurse = ws.RecursionType.Full;
ws.ChangesetVersionSpec changesetspec = new ws.ChangesetVersionSpec();
changesetspec.cs = 0;
ws.LatestVersionSpec lastspec = new ws.LatestVersionSpec();
ws.DateVersionSpec datespec = new ws.DateVersionSpec();
datespec.date = datefrom;
Changeset[] changesets = rep.QueryHistory("", "", itemspec, changesetspec, "", datespec, lastspec, 2000, true, true, true);