How to upgrade a Cisco VPN 3002 client manually?

I have several Cisco 3002 VPN Clients connecting to a Cisco 3000 Concentrator.  The firmware needs to be upgraded.  This can be done via the Concentrator as a push out to each vpn client, but my sites are too far apart and since it requires intervention on the client side, ths is not a very good idea.  So I want to go to each site and upgrade each one.  I am not finding any instructions on how this can be done.  Any help would be most appreciated.  Thank you in advance.
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I've used Pumpkin for quite a few years

If you set it up on a PC just make sure that the any installed software firewalls allow incoming connections
You can upgrade them from the console (or telnet) using the CLI.  You'll also need a tftp server with the image you want to upgrade to accessible on the network.

Following guide has steps listed under the Administration section:
SalongeAuthor Commented:
Thank you.  Where do I get a tftp server?
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