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Connecting a VPN router to existing router on network.

I am trying to hook up a Netgear ProSafe VPN Firewall up to my existing network so that I can use it to VPN into my works network but I am having some problems.

I have a Linksys Wireless router hooked up to my cable modem and then I have another Linksys 5 port switch hooked up to the router.  What I want to do is hook the ProSafe VPN firewall up to my existing router and use it to VPN into my work.   My current network is using 192.168.10 ip's which are DHCP assigned to the computers.  I want to plug the VPN firewall into the smaller 5 port switch and plug the computers I want to be on the VPN network in the firewalls swtich.

I have tried giving the firewall a 192.168.10.5 IP address to the WAN interface and using a standard cat 5 cable to connect the WAN interface to one of the standard ports on the smaller 5 port router but I am unable to ping the VPN routers IP address.

My question is, how would I accomplish this?  I thought that I could just assign the VPN's interface a local IP and plug it into the 5 port router port and it would work.  Please help!
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Rob Williams
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Well.  Your way worked.  It wasn't what I wanted to do but what I did end up doing is actually taking the Linksys Wireless Router off of my network and I hooked the Netgear VPN router up to the network and I just put up a Wireless-G Access Point rather than a router and now my network works fine.

I did have some issues with my Vonage device being behind the firewall because of the packet inspection that the firewall did and it ended up making all of my phone calls quite choppy so what I actually had to do is put the Vonage device on the outside of the firewall directly connected to the internet and then connected the firewall to the Vonage device.

Anyhow, that's for all the assistance.
Very welcome. Thanks you RWJDCom. Glad to hear it is working.
The VoIP systems are adding a whole new series of problems. A lot of folks have started subscribing to a second IP, as a solution. Some ISP's only charge $5/month. With that option you can put a basic switch between the modem and 2 routers and configure them independently.

You mentioned "put the Vonage device on the outside of the firewall directly connected to the internet and then connected the firewall to the Vonage device."  Did the VPN still work in this configuration ? If so the Vonage using must treat the LAN side as a DMZ allowing all traffic....I assume.