VPN Error 412

I've been trying to connect to my company domain using CISCO VPN Apparently, the connection gets terminated with error 412 (I am using a Linksys gateway at home - the termination happens at home only- I can connect in coffee shops for examples. I was also able to connect using another linksys gateway at my friend's house).

please advise if the router has to be replaced.  

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I had this same problem and after several changes on my firewall such as opening ipsec and ike I was able to intermittently get connected. I then updated to a new Linksys firewall and that seemed to fix my problem

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