(2) ways you can connect to a Pi on an RFC 1918 address:

- VPN
- DNAT

Neither involves configuration on the Pi itself, but the router in front of it.  This topic is really one of general networking than the Pi itself, so I'll give you a high-level overview of what's involved:

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. 

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
--
**Configuration**: 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 one of these available addresses ( excluding the use of the router's IP of course) on the router and setup a DNAT rule in the router's forwarding table to forward traffic from the public IP to the internal IP.  The interface (CLI/webGUI) for accomplishing these tasks will vary between router manufacturers.

Upside:
---
Less complex to setup than an IPsec VPN.  Still requires a bit of networking knowledge, but again, a great opportunity for gaining those skills.

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.

- 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.