This question is very much off-topic. I recommend that you ask this question in a different forum on Coderanch.
If I were in your shoes I would also specify what "remote access" in this case means. If you want to reach the web pages served by Tomcat then it is very straightforward. If you want to debug an application remotely then you have to start Tomcat in debug mode. Btw: there is a chapter about it in the video:
This thread has been opened in the Tomcat forum, which is the best place to find helpful Tomcat experts. Somewhere about the time you start deploying webapps, you've begun to move out of the "beginning" category, as life gets a lot more complicated when you have an app and and app server to deal with.
As Peter has said, there's 2 types of "remote access" for Tomcat.
The most common remote access is web clients sending http requests for Tomcat to serve.
However, Tomcat, like any other application that runs on a Java Virtual Machine, is also capable of being remotely accessed by a Java debugger. The debug server is built into the JVM itself, and there's a simple command-line debug client program that comes with the JDK. Although most people prefer to use a debug client that's part of an IDE.
In either case, you have to have the appropriate service listening on one or more of the server machine's TCP/IP ports and you have to have that machine's firewall open access to those ports to external requests. As well as having open firewalls on any intermediary devices between client and server (such as routers).
An IDE is no substitute for an Intelligent Developer.