I think all you need now is the same information (User ID, and password) for the Teamviewer software that is installed on your work computer.
If you don't have Team Viewer installed on your work computer, then that's your next step.
From home, enter the User ID and password for Team Viewer that is installed on your work computer.
And, you can connect to home from your work computer in the same way. You just enter the ID and password for your home setup.