When a packet comes back from the destination computer, the router checks the destination address on the packet. It then looks in the address translation table to see which computer on the stub domain the packet belongs to. It changes the destination address to the one saved in the address translation table and sends it to that computer. If it doesn't find a match in the table, it drops the packet.
From HowStuffWorks.Com

Found by doing a Google Search on "Network Address Translation". It is the first result.