Assuming that you have an Apple router.....and that is configured as the main router for your network to provide DHCP and NAT services for your network........
Open Finder > Applications > Utilities > AirPort Utility
Click on the AirPort router
Click Edit in the smaller window that appears
Click the Network tab at the top of the next window
Click the Network Options button near the bottom of the window
Make sure that there is a check mark in the box next to Enable NAT Port Mapping Protocol
This is normally enabled by default, and should already have a check mark entered.
If you don't see an option to Enable NAT Port Mapping Protocol, your AirPort router is operating in Bridge Mode.....meaning that there is another router controlling the network. You might call this device your "modem".
That is the device on which you must enable NAT Port Mapping or UPnP.......not the AirPort device.