1) Call your ISP and ask for a "business" account with static IP. This will cost more, but to some, it's a privilege worth paying for.

2) Setup a spare computer with $OSS_OS_OF_YOUR_CHOICE running a web server and put in the numbers your ISP tells you.

3) You're done.

Of course, it'd be nice if you would harden the server (maybe start with a hardened distro) and have email as well as a domain name, but those aren't that complicated these days either (and can usually be outsourced if you don't really care). Heck, you can skip all this and pay under $10/month for a web server of your own (virtualized of course).

AWS will even give you the first one for free.