|As X86 said, configure a port forward. |
You'll want to connect remotely using RDC (remote desktop connection) which uses port 3389. You would need a Windows computer inside the LAN to connect to.
On the router you would configure the port forward to point at the IP of the Windows PC you wish to connect to. Once connected to the XP computer, you could then open a web browser and use it to connect to the management interface of the router or the security cameras.
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.