TCP client and TCP server using the Internet?

My probs ist that I have a UDP client and UDP server (and also TCP client and TCP server) built in C#(if that helps). They are working perfectly by using localhost (as you know no two applications are allowed to use the same port for connecting) but this is not my question, my question is that I want to use my client and server through Internet, i want to install client on a separate machine and server on a separate, but how do I incorporate Internet in between, i use local IP addresses 192.168.1.1 - 192,168.1.10 for example, but they are not Internet IPs, I goggled my IP address, but that address is then behind a router, and another router and another router, HOW DO I COMMUNICATE THROUGH INTERNET ???