SYNERGY/DLOAnswerthissoIcangiveyoupoints

Here is my problem. I want to connect to my office computer from home. I have windows XP on both computers. I have DSL at the office and a cable modem at home. I have successfully connected to my home computer from the office through XP's "Remote Desktop Connection" because the only thing I need to know is my static, routable IP address for my cable connection which I know. However, I am not able to connect to my office computer because it has DSL and a router which I cant get passed. There areseveral computers at the office all connected through a hub which is connected to a router. All the computer have static IP addresses such as 10.0.0.1. The only real address is the router. I know that address and the user name and password to get into that router but I need to know how to connect to other computers in the office from home. Since the computer addresses aren't routable, obviously I will have to connect to the router somehow first and then gain access to the other computers. I think this might have something to do with Network address translation. The router is a 678c router from Cisco. Someone please give me step by step instructions on how to achieve this. Thank you.