router to router vpn

Can I create a VPN between two computers running windows 2000 professional?  Each computer is behind a broadband router: DI614+, and DI-704P and both support VPN pass through. Do I need software installed to connect the two computers?
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I am not sure if Routing and Remote Access is available in 2000 Pro but for 2000 Server that is what I would use to create a VPN between 2 machines.   Another way would be (this does VPNs from machine to machine AND network to network) to buy 2 routers from linksys that support IPSEC/TUNNELS.  You could use those to link your machines and/or your networks.
2000 Pro can accept 1 RAS/VPN connection.  Simply open Network and Dial-up Connections.  Add a new connection.  Select ACCEPT INCOMING CONNECTIONS. The next windows will ask what device to use. Do not check anything. Just hit next.  The rest is easy.

On the Remote computer, simply create a new Network and Dial-Up connection for a VPN.  

The router will pass VPN packets. You may need to forward VPN requests to the correct IP address.  

If you have trouble connecting, make sure you are not blocking traffic with any firewall software. Zonealarm in particular does not like VPN connections.  

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