A cloud proxy communicates over a public network with a network proxy in a private network. The network proxy communicates with the public network through a firewall. The cloud proxy receives from a requester a request to communicate with a remote device in the private network. The cloud proxy creates first forwarding rules to forward traffic from the requester to the network proxy and from the network proxy to the requester. The cloud proxy sends the request to the network proxy, which causes the network proxy to create second forwarding rules to forward traffic from the network proxy to the remote device and from the remote device to the cloud proxy. A communication tunnel through the firewall device between the cloud proxy and the network proxy is established over which the southbound and northbound traffic is forwarded based on the first forwarding rules and the second forwarding rules.