To elaborate a little bit on the port forwarding mentioned above:
It makes the router listed to a specific port on the outside of the local network, and redirects any traffic targetted at it to a pre-defined computer on the local network.
Alternatively you can move a specific computer into the DMZ, where any non-requested data always gets forwarded to it. Downside of that is that you also lose all protections of the router, and would be much more vulnerable to internet based worms and the likes for that PC as well.
Depending on your router, port forwarding may be called differently -- On mine it just calls it 'services', but it may also be listed as 'pass-through', 'redirects', or something similar.
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