|Port forwarding should be covered in the manual for your router. I suspect the most effective thing to do would be to find the manual online and save a copy of the .pdf to your computer. Most of the time the setup guide you get with a SOHO router isn't the actual manual with any real detail on how to do things.|
In a nutshell, you need to know the IP of that which you want to connect to and the port you'll be using. A typical port forward looks something like this:
Forward Port # to [IP Address]
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.