Help With Tunnel

Hi all,

What is the best way to achieve what I have on the diagram below ? I’m trying the have a home PC on to the local network of a server. Both ADSL modems are configured for Port forwarding, I can currently VPN and Winbox between them. I tried using EOIP Tunnel but for some strange reason it doesnt work, Im not sure if the server is blocking the EOIP because its running the DHCP Server and Domain Controller. Help would be greatly appreciated.
Drawing1.jpg