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remote both ways?

I'm using TeamViewer to remote into my work computer from home - works great. It'd be doubley useful if I could remote into home from work as well. I think it would be straightforward to set that up but, I guess it would have to be set up on the remote computer first. What I'm getting at is this... since I had a session from home to work - and that shows in the history log - is there a way to instigate that same connection - but from the other direction? (without further setup on the remote computer)