Linksys wrv54g - VPN ? - have you gotten it to work

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Hi,
I'm trying to set up a VPN connection from 2 offsite PC's )both access
the internet through a cable modem) to a WRV56G that is set up at the
office as the office network.
The WRV56G is attached to a DSL modem/router.
Basically we want a couple of people to be able to have access to the
office network from home.

Has anyone gotten this type of setup to work?
If so can you give me a step by step approach to it.
(I'm an IT guy.. but not a PC/network guy)..

thanks much..
Ken