Nat source and destination

I am not quite sure if what I am asking is possible nor what it would be called but I am looking for some direction on what to research.

If I have two networks connected via two cisco routers using VPN with internet between them on two separate private IP blocks, lets call them 10.0.0.0/24 and 172.20.0.0/24. On the cisco router on the 10.x network, I would like to have it listen on an additional IP addresss, 10.0.0.5 and I would like that natted to a single IP address (1 to 1 nat, all ports) 172.20.0.5. Where it becomes more difficult is I also need the server listening on 172.20.0.5 to see the traffic as if it was coming from 10.0.0.5, not the originating IP which could be a different subnet that the 172 network doesn't know how to get to. I basically want to proxy the traffic via nat. Is this possible? Traffic would always be initiated by devices on the 10.0.0.X side of the network.