Using Cloudflare Zero Trust, how to remotely connect to local network

So I have Zero Trust setup to expose a couple of services, but I thought I read previously that I can install some kind of service on a windows laptop to give basically VPN access to my private network. Can someone point me towards this?

You are most likely talking abot the Windows WARP client. It can be obtained from here:

https://install.appcenter.ms/orgs/cloudflare/apps/1.1.1.1-windows-1/distribution_groups/release