First off it's possible, using VPN or SSh. Secondly your dyndns url would need to be updated via your router or ISP provider. Most routers today support DDNS which does for you. Once you have that taken care of, your static ip is your dyndns url.

Setting up VPN would require either your router or server to run a vpn server or client (depending on how you want to use vpn). I assume you want to VPN and control your server computer.

Setting this up varies on the software you're using. There have quite a few post talking about, I would just search VPN and go through all of them. Also there should be a VPN wiki somewhere on the web. Check it out, it's pretty universal.

Trust me, it can somewhat of a headache to get running, but once it is, it's amazing.

2d