I'm not sure I fully understand what you're trying to do as your post is a bit cryptic.
Are you trying to remotely get into your laptop while it's plugged into a private network but not part of that network's domain?
Or are you trying to use your laptop that is not part of a domain to remotely connect to resources inside of a domain?
Or is it something else altogether, like your laptop is plugged in inside the domain and you're trying to access resources inside that domain?
One option in the first two cases is to use an appliance in the DMZ at the remote domain to authenticate and negotiate connections. That has to be done within the enterprise, obviously, but it's pretty good security and configurable for what you need.
If you're simply trying to "force" it on your own, you'll have to look to third-party apps, for example webex, and leave the window open on the remote pc/server...which can be dangerous, and it also assumes that the IT group within the enterprise has left open the proper ports to allow that connectivity.
Good luck.
