You can do this via the -R switch on the ssh command. You need to forward a port on the home machine to the work server. Do this by logging into the server at work and then ssh into your home computer with the -R switch. Something like:
Code:
[conconga@workserver ~]$ ssh -NR 10022:localhost:22 homeuser@homecomputer &
This will forward port 10022 on your home computer to the work server. The -N flag is to execute the port forward only, and not actually log in to the home PC.
After doing this, from the home computer do:
Code:
[conconga@homepc ~]$ ssh -p 10022 serveruser@localhost
This should log you into the server.
Be aware that the port forward connection can break or timeout, so putting the port forwarding command in a shell script that will reconnect automatically is a good idea.