Can't connect Mac to Mac

When I go to Sharing in System Preferences, it says "Screen Sharing is currently being controlled by the Remote Management service."

My computer at home won't connect, the icon is sepia and says I am "offline" and need to connect. My work computer also says the same, although a few times the icon has become colored and the play button appears. When I click on it, it tries to connect to my home computer to see the screen by getting me to log into that computer. It's reverse of what I have been doing