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How to access a Dlink security camera remotely without getting a static IP?

Here is the problem we are having. We have two D-Link security cameras (1 dcs-6620 and 1 dcs-5300) that we could access remotely until Cincinnati Bell made us trade our old speedstream modem for a new Westell 6100. I spent the better part of yesterday on the phone with various tech support people both from D-Link and Cincinnati Bell and they both agree that I need to bridge the Westell modem and the Netgear Router (MR814). I agree because I can access the cameras even when I plug a laptop into the Netgears WAN port instead of the Westell modem. The problem is I cant seem to figure out how to do bridge the two, if its even possible. Cincinnati Bell says they wont support it and Westell doesnt have any end user support. I would like to know how to bridge the two and get it working. But at this point Im open for any suggestion on how to access these cameras remotely without having to get a static IP.

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powercram

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ict4usa

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Thanks for the link it was the missing piece I needed. I had looked at those setting before, but didn't mess with them since it was already set to bridged router. Once I changed it to bridge and set the NetGear's WAN port back to dynamic it worked perfect.