How to connect local container to Docker Swarm remotely

I have Ubuntu 16 server with running docker containers in Swarm mode on it. Docker version on tis server is 1.12.5, build 7392c3b.

I want to create Docker container on local machine (or another Ubuntu server) and give to this container access to Docker Swarm network on the fist server to be able to request nodes that are inside Swarm.

My local machine OS is Windows 10.

Is it possible to give access into Docker Swarm network to Docker remote container?