Access to the Client via IP VPN, is it possible?

Question

VPN

Hello. I'm interested in this question, I have a VPS with a raised VPN. There is also a client, something like a mini server is at my place (IP gray). Is it possible to make it possible to connect to my mini server at my house from the Internet via IP VPN and port?
For example, they access 142.142.142.142:5353 from the network (Assume that our VPS has an IP of 142.142.142.142) , but at the same time, the request would go through the VPN and get to my mini server at my house (Assume that our mini server has an IP of 192.168 .8.8) , can this be done and how if possible?
An example of what I want to achieve.
Request -> 142.142.142.142:5353 -> 192.168.8.8:5353
192.168.8.8:5353 -> 142.142.142.142:5353 -> Response