hdtv

I decided to install a surveillance cameras in my shop and I cant find the way to remote acces from my house or different computer. first I have a H.264 dvr with four cameras , I have a motorola router netopia 3000 and I have tried all the settings posibles and inposibles on earth but this is not my thing. Is there a way to do this step by step and get it right? Do I have to pay any company to host this kind of service? please advice. I really appreciate any help.