Servering from a Private IP?

My objective is simple: I want to run a TeamSpeak Server (or anything, really, will give me some insight) off of a private IP. That is to say, I am assigned my one static IP from my ISP (Earthlink cable). Then, I have the modem connected to a router with DHCP (a Linksys WRT54G), and all my computers have 192.168.x.x addresses. Is there anyway that other people accross the internet can get to my IP, into my network, and to my home-brewed server? Please ask for more info if you need it, I would really appreciate the help.

 

In order to get to from the Internet to your HTTP server you need to open port 80 through the Firewalls.

Open port 80 in the Router, directed toward the private IP of the computer that has the HTTP server running.

Doing so will direct any one who is using a Browser to reach your website while inserting your External Static IP into their address bar.

Link to: How can I find My Home Personal Computer/Server on this "Huge" Internet World?