You would have to set up a VPN connection.
Here is how to do it:
Start -> connect to -> show all connections -> go to file and click new connection.
Just follow the steps* and you will be good to go.
NOTE: Make sure that both firewalls allow VPN connections.
NOTE2: Make sure that you're router allows it too.
Jonas
*1) Click next
2) Click connect to the network at my workplace. Click Next
3) Click Virtual Private network connection. Click Next
4) fill in what they ask and finally click finish.