Advice needed

Hello networking community! I need a setup where I can forward my server from my private network to another network which has a public ip to forward the server itself to the internet. When a client connects to the server, traffic should get forwarded to my private network somehow. I know that's possible, but don't know how I can achive that.

Came back after a year, got some knowledge. I achieved this setup using WireGuard (+ PersistentKeepAlive) and custom iptables rules on an old laptop with barebones arch install. By masquerading, we loose the source ip when forwarding, and to preserve it we need a L2 tunnel (L2GRE).