What type of router? It sounds like you're referring to a SOHO unit like a D-Link or Linksys.
If they support remote management, you'll probably have to enable that somewhere in the advanced settings. If you're working with an enterprise-class router, it should support a variety of remote administrative protocols. SSH would be recommended, and you'd ideally use ACLs to limit the IP address or addresses ranges that could connect to that service.
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