what are steps should i do to make my local sql server connects to a remote sql server on my server? I want my sql server to remote connect to the server sql server, so that I can access databases from my local machine.

How to do that in steps, or if there is an article online that will be nice as well.

What I am doing now is trying to connect to the remote db from my local sql server using the server IP, but it tell me "Cannot connect to ..."
Are you talking about just accessing the databases and the instance? Or do you mean implementing high availability?

If its the former, then all you technically need to do is ensure tcp/ip is an enabled protocol, install SSMS, and if you can see the server then you should be able to login to the remote instance, provided you have the proper credentials.

Edit: if its not the default instance then you need to ensure the SQL Browser service is started.