You can setup port forwarding on your public facing router to access said network. For example, Ive got a secondary laptop that I mainly use as a network attached backup server, and sometimes is handy for ssh tunnels out of public wifi networks. You have to setup a rule to forward ssh to the desired private IP address, then I could access my `server` by ssh-ing to my public IP address, and the router automatically forwards the traffic to the server. That is one relatively safe way of getting into your home network, but I would REALLY recommend using public key authentication if you plan on setting up port forwarding like this. You prob will see attempts at random IPs trying to get into your network eventually, so always better safe than sorry, right?
