Short Answer:
-
Here's a **TESTED** and **WORKING** specimen config from my MikroTik router that you can use as a model for your own router.

    chain=dstnat action=dst-nat to-addresses=192.168.0.6 to-ports=21 protocol=tcp in-interface=ether1-Gateway dst-port=60000 log=no log-prefix=""

Where:

- "ether1-Gateway" is my connection to Internet
- "dst-port=60000" is an arbitrary port chosen from the "Dynamic/Private" port range.
- "to-addresses=192.168.0.6" The Pi
- "to-ports=21" The port on Pi receiving the forwarded traffic

**WARNING**: Avoid "Privileged" port numbers such as "21"- use a high port in the "Dynamic/Private" port range.  "21" is used for FTP and now some routers are offering FTP services...

So when I SSH into the router on port 60000 as follows:

    ssh [email protected] -p 60000 

The router sends my traffic to the **FORWARDED** port "21":

    192.168.0.6 on port 21

**DON'T FORGET TO CHECK YOUR FIREWALL RULES** allow the desired connectivity

Long Answer:
-

Using DNAT to connect remote-in to internal hosts that are **NOT** offering public services such as mail or web servers is not ideal. Using a VPN to connect to hosts on Local IPs is.  

Here's a comparison between the (2) methods to connect remotely to a host on an RFC 1918 address:

VPN: Preferred Method
--
**Configuration**: You'll need to configure VPN on the router, then configure a client on your computer/device to establish a VPN connection to the router.

So once your VPN connection is established to your home/work router, your SSH connection looks like this:

    ssh [email protected] -p 60000

Note that you're reaching it on a LOCAL IP.

Upside:
---
- Using a VPN, you don't publicly expose your Pi.  You can talk directly to it on the local address once you establish the VPN connection to your router.

Downside:
---
- Configuring an IPsec VPN on the router requires a little bit of networking knowledge.  From the nature of your question, I suspect you don't possess the fundamental skills to do this easily.  But hey- great opportunity to learn!

- Some countries are not VPN friendly and do not want you passing traffic through an encrypted tunnel...


DNAT
--

In the "***Short Answer***" I showed you a very simple way to do a DNAT using the ROUTER's own Public IP.  The following method is a bit more elegant, where each host has traffic forwarded on a Public IP dedicated to it.

**Configuration**: A Better DNAT Solution:
---
Ask your ISP for a block of Public IPs.  If you ask for a ***/29***, you're more likely to get your request approved than if you ask for a ***/28*** (or greater). Configure these Public IP addresses on the router and setup a DNAT rule to forward traffic from the public IP to the internal IP. Each host can have use a different public IP to forward traffic to it. Tidy.

Upside:
---
Less complex to setup a DNAT than an IPsec VPN.  

Downside:
---
- Just as you can connect to your Pi from the outside world, so can anybody else: traffic is being forwarded from the Public IP that is being mapped by the DNAT rule to the Pi's internal (non world-routable) local IP.

- Requires your ISP to assign you a block of Public IPv4 IPs, which are getting scarcer and scarcer by the day. And it's very likely they'll charge you a monthly fee for the block they assign to you so potentially a recurring cost to this solution (thanks @goldilocks)

- You'll lose your current Public IP the router is using, which may or may not be a problem.  If they assign you the block of Public IPs, the router's address itself must be from within this range of IPs.

- If you change ISPs, you will lose this block of Public IPs and your connectivity to the Pi will be busted.  The ISP owns the block- they are letting you use their IPs only.