On the remote computer
Create a ssh connection to the home computer and start a local ssh server listening on port 2210 on it.
ssh -R 2210:localhost:22 homeuser@[home-ip]
add –C to activate compression
add -f -N to put the process into the background
On the home computer
Connect to the local ssh server created by the remote connection.
ssh -p 2210 remoteuser@localhost