How do I set up a FTP for my Home Computer?

You will need to subscribe to a fixed IP address with your ISP, this costs extra, or you will never be able to connect to your machine. You will need to install and ftp server program on the machine. You would then need to open the port 21 (FTP) in your machine's firewall. You would need to forward this port on your router, pointing it at your machine's private IP address. There are serious security issues here as you are making a vulnerable service available on your machine, I see firewall logs of a thousand attacks on port 21 at one attempt.regularly. If you need more information than this you are not ready to run such a service.