At the firewalls at each location.
Depending on the product that you are using to do the translation for you.
Most of them allow you to specify a port that can be forwarded to one of the pvt ips.
Let's say the pvt ip is 192.168.1.5 and you have pcanywhere configured for port 66670.
You should be able to say at the fwl/nat device, anything inbound on port 66670 should be forwarded to port 66670.
***PCanywhere though connected via the net is all bad unless you can limit it's connection on that port to inbound IP's**** Do not let just any one connect to that port.....
Preferred scenario for PcAnywhere is to do a direct connection via modem (modem to modem). Where you essentially dial up right into the pc.
Going over the net is extremely dangerous for remote admin software, especially if there is no VPN or secure link set-up.