reverse connections and a static build.

Does somebody have an example or a howto on creating a reverse
connection? Here is the scenario.

I have five machines behind a firewall.  I have one machine outside
that firewall.  I want the machine outside the firewall to be able to
send data to the machines inside the data.

The other option I have is to install zebedee on the firewall itself.
I am using snapgears which are linux based so theoretically I could
put zebedee on them and have it direct the traffic inwards. I am
pretty sure I would need to have to a statically compiled zebedee
because I have no idea which libraries are on the firewall.  I have
never done anything like that before so if anybody has any pointers on
what to watch out for (kernel version?) I would appreciate it.

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