Remote access with DHCP?

Hi, I have a friend that wants to connect to work from home. He has Win98, DSL and the Linksys DSL Router with 4 port switch at both locations. The routers connect to the ISP with DHCP and they are DHCP servers on their respective nets. The addresses used are 192.168.x.x on each internal net. Primarily he wants to print to his Tektronix printer at work from home and secondarily to have file access. Can this be done with his current setup? If not, what is necessary to do this? By the way this will not compromise the company’s net because his personal net at work is not connected to it. So being overly cautious about security isn’t as important.