How do I connect to my home computer using remote desktop?

Both computers and the server need to have static IP addresses. Next you will need to forward port 3389 (TCP) on your home router to the static IP address of your computer at home. Register at DynDNS for example so that you can always connect to your home computer. For your work is will be a little bit more difficult, but only a little bit. Since port 3389 (TCP) is used for Remote Desktop, forwarding this port on your work router to your server there for example, makes that you cannot forward the same port to your work computer, so what you need to do is forward port 3389 (TCP) to your work server for example and using Network Address Translation (NAT) forward port 3390 (TCP) for example (easy to remember) to port 3389 of your work computer. Again register at any free of charge DNS provider to make it easy to connect to your work network. Type the name or internet (WAN) IP address of your work router to connect to your work server and type the name or internet (WAN) IP address of your work router followed by :3390 to connect to your work computer.

Easiest way is through various third party software. I use logmein:- https://secure.logmein.com to provide remote support. If all you want to do is remote access, then the free version is all you will need. With the pro applications, you can do lots more. Currently I remote manage over 100 pcs/macs.