|You have two choices depending on your setup and what equipment you're using. |
Option one is a VPN. Option two is to create a port forward on your router.
If you have a SOHO router setup at work, chances are creating a port forward on it is the simplest solution. Once configured correctly, you could connect using RDC (Remote Desktop Connection) which is built into Windows.
It matters not how straight the gate,
How charged with punishments the scroll,
I am the master of my fate;
I am the captain of my soul.