You need to set up port forwarding for the ARD-ports and allow the traffic on the outside ACL.
A config for that could be like the following. Probably it has to be adjusted to your used interfaces:
interface Dialer1
! your WAN-interface
ip nat outside
ip access-group OUTSIDE-IN in
!
interface Vlan1
! your LAN-interface
ip nat inside
!
! in this example 10.10.10.10 is the internal PC
ip nat inside source static udp 10.10.10.10 3283 interface Dialer1 3283
ip nat inside source static tcp 10.10.10.10 5900 interface Dialer1 5900
!
ip access-list extended OUTSIDE-IN
permit udp any any eq 3283 ! ADR-Port
permit tcp any any eq 5900 ! VNC-Port
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