Connect to VPN but not my iMac at work

Hi all,
Very frustrating problem here. When I'm at home using my MacBook Pro, I can connect to the Cisco VPN at work and log into SMB servers. I can also log in to AFP servers. But I want to be able to control my iMac at work because sometimes I need files on that hard drive. And I can't see any macs! When I bring my MBP to work and am on the network, I can control my iMac and see all of the other macs under the "Shared" section of the Finder sidebar.
Here's my setup at home.
MBP: running 10.6.8 using built-in VPN. Tried to connect using "Screen Sharing," which works at work. IT gave me ARD 3.5.1. Still doesn't work.
Home Router: Airport Extreme Base Station (dual-band model, but I can't remember the model #). The firmware is current. Using Airport Utility, I have Port Mapping set up for ARD service (automatically does stuff for ports 3283 and 5900, but I don't know what the numbers mean).
I use a Comcast Cable Modem to connect to the Internet.
This thread https://discussions.apple.com/message/3144943#3144943 said I should "configure the AEBS so that the option to distribute IP addresses is DISABLED." It is obviously talking about an older version of Airport utility, but when I go to my AU > Internet > Internet Connection > Connection Sharing drop-down menu, I see three options: Share a public IP address (selected), Distribute a range of IP addresses, and Off (Bridge Mode). I am not using my AEBS as a bridge, so I think that's configured correctly.
Since I can control my iMac from my MBP over the wireless network at work, and I can make a VPN connection from home and log onto SMB and AFP servers at work, I suspect there is something wrong with my AEBS setup that's blocking something to do with Screen Sharing. Any ideas? I've even tried turning off the OS X firewall and still didn't have any luck.

Using Airport Utility, I have Port Mapping set up for ARD service (automatically does stuff for ports 3283 and 5900, but I don't know what the numbers mean).
FYI. Port 3283 is used by the Net Assistant function of the ARD (Apple Remote Desktop) service. Port 5900 is used by both ARD or a VNC server, like Screen Sharing in OS X. Note: When you enable Screen Sharing within the Sharing panel in System Preferences, you are basically turning on the Mac's VNC server service. You would then access this server via a VNC client ... like another Mac or from a PC that has a VNC client installed.
Since I can control my iMac from my MBP over the wireless network at work, and I can make a VPN connection from home and log onto SMB and AFP servers at work, I suspect there is something wrong with my AEBS setup that's blocking something to do with Screen Sharing. Any ideas? I've even tried turning off the OS X firewall and still didn't have any luck.
Actually, it is somewhat backwards of this. It's NOT your router that needs to have port mapping configured; it would be your work's router instead. The only reason you would configure yours is if you were attempting to access a computer on your home's local network from the work (or anywhere else from the Internet).
Since you already got ARD from your work's IT guys, they should be able to help you configure Screen Sharing, running on a work computer, to be accessible via a VPN tunnel from your home's network.

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