How to PC A would connect to PC B using Two different ADSL routers.

Hello

I am looking for a solution to my below scenario:-

ADSL router(Location A)----Internet Cloud---- ADSL Router ( Location B)
   |                                                     |  
   |                                                     | 
  PC A                                                  PC B 

Note : NAT will be performed for LAN in both locations.

LAN PC will be using Private IP address and ADSL router's will be having Public dynamic IP at both sides.

Now my requirement is if PC A wants to communicate to PC B using Telnet/SSH/Remote desktop, Please let me know the procedure on this.

Regards,
Mirza.