VPN with two Linksys routers

I have two LINKSYS BEFVP41 VPN Routers.  I need to establish a permanent vpn connection between two connections, both with static IP's.  Can anyone lead me to how to get this to work?  I have tried all I can on my own and cant get them to connect.
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sbcwAuthor Commented:
RESOLVED.  Wasnt easy.
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