If your router supports "virtual Servers", this is pretty easy; I'm using this feature with my MultiTech RouteFinder.
The first assumption is that you are using a private IP address range inside the router. For arguments sake, we'll call it 192.168.1.x. For this to work, the servers on your private network have to have static (not DHCP) Ip addresses.
Of course, on the Internet side of the router, you have your ISP assigned static IP. With virtual servers, you tell the router to forward requests from the internet side to specific hosts on your network. For some routers, you're only allowed one server inside the network. for other, you can have more than one. For example, on my router, all requests for ports 80 & 25 go to my webserver at 192.168.1.1. Requests on ports 7777-7778 go to my game server. Requests for PC/Anywhere's ports got to my workstation.
Another thing you might look at doing is setting up dynamic DNS -- surf to http://www.dyndns.org for more information.
HTH