Possible to VPN into home network, see other Macs?

I set up the VPN server on my Mac Mini Server running Lion Server, and can easily VPN into it from my iMac at work. I have two other machines on my home network (router is a Time Capsule), however, and I'd like to be able to reach them through the VPN link, as well. The reverse (VPN from home into the server at work) works this way, but the VPN server at work is Linux and the guy who set it up doesn't know anything about how I might be able to configure the Lion Server version for this. I haven't been able to find any concrete information through searching, and the Lion GUI seems limited.

Can this be done? If so, how?

Many thanks in advance!