First, we have to assign a static IP address to the Raspberry Pi on your home router. Most home routers will allow you to do this. Read your home router manual to learn how to do this.

Now you can access the Raspberry Pi remotely via SSH ssh <username>@<ip-address>

For example, if you gave 192.168.1.123 to your Pi, then you can connect to your machine like so

ssh pi@192.168.1.123

The default username is pi and the default password is raspberry. For security reasons, you should change your password.