Joining Work Domain

I want to join my office domain from my home PC so I can access those network drives and be part of the office network. Is that possible even from home? And if so, which path do I follow to connect? Thanks

In theory it is possible. Whether or not it is possible in your specific situation depends on the configuration of your office network. You need to consult the office IT staff. Only a domain administrator can join your computer to the domain.

Hmm ok. So I can't bring my work laptop home and simply copy those settings and enter the settings into the home PC? Also does anybody have experience with Cisco VPN because I brought my office laptop home today and it wouldn't connect to the office VPN from home

You really need to talk to the network support staff at your office. Only they know the details of how to connect to the network and what is permitted and what is not.