Need help: problem too complex for me

I'm no dummy when it comes to the world of computers and Windows, but I have
a networking problem that I cannot seem to figure out.

I have my home desktop running Win XP Pro, into a Netgear RP114 Router which
has a cable modem hooked up. System works fine for all kinds of stuff. The
OS is set as a workgroup machine, and under Network has Client for MS
Networks, File and Printer Sharing, QoS, and TCP/IP. The TCP/IP WINS tab has
the Default NetBios selection enabled. I normally run with ICF enabled, but
in the story that follows I have disabled it.

I have my work laptop that I have been bringing home for a while, which I
hook into the RP114 (via wired Ethernet) and successfully use Nortel VPN to
get back to work. This is a Win2000 Pro machine. Network characteristics
include Client for MS Networks, File and Printer Sharing, and TCP/IP. WINS
is set to allow NetBios over TCP. This laptop is part of a domain (for
work). I am not allowed to change (although I could, but don't really want
to) the characteristics of this machine. Our Enterprise Systems people would
be very unhappy about that.

The router is set so that Home IP = 192.168.x.x and Work IP = 192.168.x.y. I
decided recently to see if I could get these two working together on this
network. I cannot get either machine to see the other. There is no firewall
running on the laptop, and as I said ICF is disabled on the home desktop.
Both machines can see the outside world. Doesn't matter if I'm using VPN or
not on the laptop.

I need some step by step help with this. Do I have to set up port forwarding
in the router? Do I have to add my home machine to the work domain? (don't
even know if that would work).