There used to be a service/program where you run something in your system tray that would broadcast your IP to a website. Then, if you were at work, you could see what your home PC IP is to connect to it with remote desktop.
Does this still exist? My Googling has failed to find it.
Register a domain name, and use your registrar’s dynamic dns support to keep the domain pointed at your home machine. Most registrars will provide a suitable client to run on your PC. I’m keeping a domain registered through namecheap.com pointed at my home machine on a dynamic ip address and running a web server on it.