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