how do you install a surveillance camera so it can be viewed through the internet? and is it free?

I bought a surveillance camera, connected all the cables and all but I have yet to be able to view the image through the internet. I was able to view the image through my home wireless router but I can not see it from another router except my own. does anyone knows how to do so, I need help.

The only way I have found is a system call www.wilife.com Good Luck