Printing to Remote Printer via Internet

I travel a lot and would like to print to my office while on the road. I know I can email, but I also would like to have this capability if it's possible. Is there a way to set up the two computers to achieve this? If so how would I do it? Any help would be appreciated.

(Need more details to give better instructions. what printer - is it connected to a computer?)
You will have to enable port forwarding through the office router's firewall. This involves telling the router to send requests for a specific port to a specific local IP address. (and could be a security risk) Since most routers get their internet IP address by DHCP (it can change at any time), you'll probably need to subscribe to a service that keeps track of that, called dynDNS.org, so you can always use a (stable) domain name instead of IP address to print.
Does it sound like what you want to do?

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