It's so simple it's beyond belief.. just install Azureus (now they call it vuse and it comes with all kinds of crap bundled which you don't need.. an older version will work beaut.. and it's free) and then set up the internal tracker which comes built in.. you make your torrents in exactly the same way as you would if using an external tracker.
Then you just send your friend the link with your ip and the tracker login via irc/email/whatever you prefer.. make sure you ONLY send these details to the people you want to access your home tracker and use encryption and you are as close to 100% secure as it's possible to get ;)

I used a dedicated machine on my home network to run these services for over 2 years sharing files with my friends across the world.. some forum members can vouch for this.. it was my preferred way to share MY copyright free music. The use of a tracker at home in this way if sharing with a few select people seriously cuts your upload as seen by your isp.