Tunneling through private networks

Hello,

I've two computers, each of them runs in another private network, so both PC's have private IP address. I need to connect these two computers. You can use third PC with public IP to initiate the connection, but not for the data transfer. How can I connect these two computers with private IP address? Please include links to tutorials how to do that in C++/C# as well.

Thank you very much.
JiriNovotnyAsked:
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Daniel JungesCommented:
to conect to another private ip, then you  have to forward the vpn port on you gateway to this ip.

implementation sample: http://social.msdn.microsoft.com/forums/en-US/netfxnetcom/thread/28125f40-9c3b-4e77-9bfb-8a975e9b3457/
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JiriNovotnyAuthor Commented:
Well and how is this done in Hamachi/Skype? Or VPN? I heard that Skype is able to tunnel two private networks without using relay server.
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Daniel JungesCommented:
This is another stuff:

Tunneling skype from behind firewall
http://www.rico-wind.dk/
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JiriNovotnyAuthor Commented:
Well I don't need to know how to tunnel skype through firewall, I just said I heard that Skype is able to tunnet two private networks without using relay server, and I would like to know how it's done. And I heard that Hamachi is able to do the same, so also Hamachi should be able to tunnel two private networks without using any relay server.

So the ultimate question is: How to tunnel two applications running in different private networks without using any relay server?
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Daniel JungesCommented:
It is not possible. If those applications can establish a tunel then there have an server implementation integrated. Other stuff: a port forward is strongly needed if no third server are integrated on session establishment.
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JiriNovotnyAuthor Commented:
Well the solution is acceptable if third server is used for session establishment ONLY. Thus, the actual data must go directly from client to client, not through third server, as this would really overload that server. Hope the solution exists, because I must not overload the server.
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JiriNovotnyAuthor Commented:
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