I have a wireless security camer on my home wireless network. How do I view it on a network away from home?

I have a linksys wireless routher at home and a trendnet TV IP200W camera. I can view it from any place at home with a password I set up and an IP I gave it on my router. Now how do I go out of home to another network and take a look at what is happening at home?

How can I print from my laptop? My wireless router is connected to my desktop I am running zone alarm both?

Dell desk top running xp
Dell laptop running xp
Linksys wireless router connected to DSL modem & desk top.
Printer connected to desk top.

how do you setup a wireless routers security for a Mac computer?

okay I think I know how to do some of this. I have a linksys wireless N router so i would type in 192.168.1.1, the username would be admin. after that i am not sure what to do. i want to setup security for my computer. and i want to be able to hook up my ps3 through wireless internet.