This is for Adobe Reader 9.
1. Click Edit
and select Preferences
2. When the Preferences window appears, choose the category named Documents
3. In the right section of the window, there will be a section labeled "Open Settings." Click the box next to Restore last view settings when reopening documents
The document will retain the view settings every time it is opened.
From the Edit menu, choose Accessibility and then Setup Assistant. Choose to configure the options yourself, and then scroll through all 5 pages of them. On the very last page you'll see a check box that says "reopen documents to the last viewed page". Select it and you're done. Make Acrobat Reader Open Where You Left Off
I use PDF-XChange Viewer, and it looks like this.