Home PC to VPN Router

At the office there is a Dlink DI-808NV VPN router and connected to the internet through a ADSL modem, and on the Network is two pc’s and an network printer. The user at home is connected to the internet through a ADSL modem and also has 4 port LinkSys router. All using TCP/IP.
I guess my first question is it possable to connect to a VPN router from a pc through a router?