I need to establish a tcp connection from my house computer to my office computer.
on the office there is a router where several computers are connected to. that rou
There is an excellent article about UDP and TCP hole punching techniques.
http://www.brynosaurus.com/pub/net/p2pnat/
However, you need a well-known rendezvous server for this hole punching technique and I don't think you want to set it up.
By the way, you will want to double-check your company's policy about having your own server in the office. For security, I don't think a company allows an employee to set his or her own server inside.