There are a few different ways to access your computer and/or computer systems when you are away from the office. You might be able to use some or a combination of these to do it.
VPN - Virtual Private Network
RDC - Remote Desktop Connection
3RA - 3rd Party Remote Access, like GoToMyPC or LogMeIn
The computer that you connect to back in your office is the Host Computer.
The computer that you use (notebook, home computer, etc) is the Remote Computer.
Here is some helpful information:
Setup your PC to connect to a VPN access
Setup your PC for Remote Desktop Connection access
Setup your Host PC for Remote Access
Printing in GoToMyPC
More information about GoToMyPC