You can do it from a command prompt if you want.
Just type telnet xxx.xxx.xxx.xxx (xxx=ip address of router) from the command prompt and you should be able to do that if the router is configured correctly. If you get a password not set error then you need to access it via the console port and setup your passwords before telnet access will work.
Say you are inside your branch office network (assuming this network is the NAT inside network) and you want to telnet to the router. Assuming that your router's internal interface has an IP address 10.0.0.1 and you actually have connectivity with your router, then type this in whatever shell:
telnet 10.0.0.1
Just make sure you have the connectivity and the proper privileges to access the router.
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