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1. If you are using DHCP from your router then you are going to want to create a reserved IP address that is mapped to the MAC address of the nic card in the machine that is going to be remotely accessed.
2. Once that is completed then you are going to need to setup port forwarding to that reserved IP address.
Forward port 22 for ssh tunnelling
Forward port 5900 for direct connection to a vnc server
Forward port 3389 for direct connection to remote desktop
Step-By-Step Instructions on setting up Port Forwarding on many different routers.