Remote Connection to Home Server

Hi Everyone,

I've browsed through the topics and I could not find anything that I felt matched my situation, so I chose to post and ask for help. I'm willing to bet that the answer is out there, however I am a networking noob and since I am not readily familiar with the terms and technology I will admit that I probably did see the solution but didn't understand the answer.

What I am looking to do is learn how to be able to remote into a server from an off-site location. So if I am sitting somewhere other than my home and am looking to access a server that is at my house what settings/configurations would I need to make this happen? I would imagine there would need to be changes made to my Comcast router, but I'm not 100% sure what they are. And after those changes are made to the router what is the process of actually signing into the router from a remote location?

Thanks in advance for your time guys,

-Michael