There are a few factors that affect accessing private networks.. Your question is a bit too general to answer.
In general, first you need to know the IP of the destination network, then you need to have certain ports open at the target network's gateway/NAT router to properly connect. Those ports need to be forwarded to a particular machine on that local network.
In order to provide more detailed assistance, we'd need to know what program you are using to "access" the remote network, is the source/destination behind NAT, what OSes, etc.
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