Pivoting is the use of a machine to jump higher in the network and compromise another one. For instance, using information and connections from a public-facing host to gain access to an internal network.
Even if how to pivot depends on the operating system, there are still two theoretical methods :
Tunneling / Proxying
Use the compromised machine to redirect all the desired traffic into the network. Tunneling is the same idea but using another protocol as a disguise. It helps to evade basic Intrusion Detection Systems and firewalls.
Port Forwarding
Create a connection between a local port and a single port on a target, via a compromised host
As a general rule, if you have multiple possible entry points, try to use a Linux /Unix target where possible, as these tend to be easier to pivot from. An outward-facing Linux web server is absolutely ideal.