However you will need to ensure following are OK.
1) Work PC allows RDP outward connections and the ports are open.
2) RDP is available on your work PC and active-X is allowed.
3) on your HOME computer allow inbound connections and ensure port 3389 is available.
4) your router must port forward port 3389 to your INTERNAL HOME computer LAN IP usually something like 192.168.2.3 or 192.168.0.3 or whatever.
5) Now you need to reach your router from the work internet -- if your home ISP doesn't give you a STATIC IP address then use something like a FREE service from No-IP - Dynamic DNS, Static DNS for Your Dynamic IP
This will allow you to connect to your computer even if the IP changes -- a small program which runs automatically after windows is started every 30 mins or so checks the IP address and if it has changed changes the value on the servers so you can always connect remotely.
The main problem is usually getting the work IT bozos to open up the port for RDP and allowing active-X scripting on the works PC but if you can get over these problems its fine.
Note the response will be at your ISP's UPLOAD speed. These days you get pretty OK DOWNLOAD speeds 20 MB or more but UPLOAD stuff tends still not to be that great.