Another way to go would be to use ssh tunneling (which happens on the client side).
You'd do an ssh command like this:
ssh -L 8022:myinsideserver:22 paul@myoutsideserver
That connects you to the machine that's accessible from the outside (myoutsideserver) and creates a tunnel through that ssh connection to port 22 (the standard ssh port) on the server that's only accessible from the inside.
Then you'd do another ssh command like this (leaving the first one still connected):
ssh -p 8022 paul@localhost
That connection to port 8022 on your localhost will then get tunneled through the first ssh connection taking you over myinsideserver.
There may be something you have to do on myoutsideserver to allow forwarding of the ssh port. I'm double-checking that now.
Edit
Hmmm. The ssh manpage says this: **Only the superuser can forward privileged ports. **
That sort of implies to me that the first ssh connection has to be as root. Maybe somebody else can clarify that.
It looks like superuser privileges aren't required as long as the forwarded port (in this case, 8022) isn't a privileged port (like 22). Thanks for the clarification Mike Stone.