How to establish remote desktop over internet without port forwarding

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C#

First i install a program (window service) into one machine inside a domain .
so that machine collect all ip from that domain and send to server .

Consider IP of main machine is static ( eg: 201.2.2.1 ) and local machine is (192.168.0.2) and both these machine are in same domain named as DM1 .

Now i want to establish a connection with local machine (192.168.0.2) by using my pc at home via remote desktop .How to do that any idea ? i cant directly connect to local machine (192.168.0.2). bcs its private IP. and i cant use port forwarding option its not possible for my application .
BY using c# how to solve this problem ?