Apple Remote Desktop and controlling over VPN

Hi All,
I had a question about whether something was possible and if so if someone could point me to instructions/how-to on setting it up.
I have three Macs I am administering. One is an iMac that stays in the office on the network. Two are MBP's. One is always at a remote location, the other comes in and out of the office. I work remotely administering the server and the three systems. I have the latest version of Apple Remote Desktop and obviously can access the server fine. I was wondering though if there is any way besides having the person give me their IP address every time that through the VPN I can see their system, then access it in Remote Desktop just like we are on the network together? Basically they connect to the network via VPN if they are remote and I do the same thing and then access their machine.
I hope that makes sense. I went through different parts of the guide for ARD but didn't come across a method like that described in there.
Anyone with opinions? Thoughts? Chants of I'm an idiot? haha
Thanks

Yeah for some reason I cannot get this to work right. Even if I scan the 5 VPN IP's I have setup I cannot see their machines when I am connected to the VPN. I tested it the other day by connecting one of the systems to an outside internet connection, then logged it into the VPN. I then connected my own to a different source and logged into the VPN, but Remote Desktop just won't find it.
Just not sure why it doesn't work. I can see the computers on our internal network though, just not any connected via VPN.

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So the steps listed bellow assume some things. They assume that the Airport Extreme Router your configuring is connected directly to the internet connection. And that the Airport Extreme is the only router between your computers and the internet.
That means we're talking about say a DSL modem plugged directly into the Airport Extreme, or a cable modem. in ether case, this assumes that said modem, is not acting as an internet router.
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Open Airport Utility:
go to the dock
Click on the finder
go to the menu bar
Click on the "Go" menu
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double Click on "AirPort Utility"
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Double Click on your Airport Extreme BaseStation that is your internet connection router.
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Click on the internet Icon from the toolbar
Click on the "DHCP" tab
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Click the "Continue" button
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Click on the "Port Mapping" tab
Click on the "+" button
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for "Private IP Address:" copy the exact IP address you wrote down in step "3. 8)"
Click the "Continue" button
Click the "Done" button
Click the "+" button
For the pulldown menu "Service:" Chose "Remote Apple Events"
for "Private IP Address:" copy the exact IP address you wrote down in step "3. 8."
Click the "Continue" button
Click the "Done" button
Click the "+" button
For the pulldown menu "Service:" Chose "Remote Login - SSH"
for "Private IP Address:" copy the exact IP address you wrote down in step "3. 8."
Click the "Continue" button
Click the "Done" button
Click the "Update" button.
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Chose the "Apple" menu bar
Chose "System Preferences…"
Click on the "Show All" button
Click on the "Network" icon
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Clock on the "Advanced…" button
Click on the "TCP/IP" tab
for the "DHCP Cient ID: field put "ARD".
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Click the "Apply" buttonNOTE: Under "Status" you should see "(connection name) is connected to (airport base station name) and has the IP address (IP address)." the "(IP address)" address displayed should match the IP address you wrote down in step "3. 8."
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go to the file menu
chose connect to computer using ip address
set the address to the address to the IP address you wrote down for step 6. 2.
use the same password as you used to connect to the computer at work using ARD.
So here the catch. If your router gets reset... well then your going to have to configure it again. Also all the same rules you have to connect to the computer at work, also apply to connecting to the computer from over the local network. That means your computer need to be on or sleeping. And if it's sleeping it need to be configure to wake for network access.
Also some network connections change. When it comes to internet connections, some connections are static IP, while other connections are DHCP. If your connection is static... great! if it's DHCP, your address may change. If it dose.. well then your ability to connect will break. And then you'd have to do step 6 & 7 again.
Of corse there are ways around this. But that's kind of another conversation.
Some internet locations may block your ability to connect to your computer at work. This is very common at schools, and companies. Basically any place that tries to control your ability to browse the internet, may block remote access to computers; because a remote computer would completely by pass their web filter.
ALSO there is an easier option. As far as setup. There are programs designed to make remotely accessing your mac as easy as possible. For instance there is LogMeIn or Slack. With both of these programs, it's simple. make sure your computer is always on. Then install the software. Create an account with the service. And then you can connect to the computer almost any where by going to their website.
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