It depends on if the 10.x.x.x networks are subnetted and you are running routing protocols.
Typically all you need is a static route at each end pointing to the other network through the wan link. That way each router knows how to reach the other network. If the address on the remote routers wan link is 1.1.1.1 then the HO router would say
ip route 192.168.0.0 255.255.0.0 1.1.1.1
the mask may be different depending on what mask you use in the 192.168. network.
The remote would have
ip route 10.0.0.0 255.0.0.0 1.1.1.2 if the serial address on the HO router is 1.1.1.2. Again the mask on the 10. network needs to be set according to what you are using.