Are u running a Tunnel IPsec from both of this pix box ?
If you have then you can configure the pix as dhcp server
!--- Specifies a DHCP address pool and the interface for the client to connect.
dhcpd address 192.168.1.5-192.168.1.7 outside
!--- Specifies the IP address(es) of the DNS and WINS server
!--- that the client uses.
dhcpd dns 192.168.0.1
dhcpd wins 172.0.0.1
!--- Specifies the lease length to be granted to the client.
!--- This lease equals the amount of time (in seconds) the client
!--- can use its allocated IP address before the lease expires.
!--- Enter a value between 0 to 1,048,575. The default value is 3600 seconds.
dhcpd lease 3600
dhcpd ping_timeout 50
dhcpd auto_config outside
!--- Enables the DHCP daemon within the Security Appliance to listen for
!--- DHCP client requests on the enabled interface.
dhcpd enable outside or inside
dhcprelay timeout 60
Check the link:
http://www.cisco.com/en/US/products/hw/vpndevc/ps2030/products_configuration_example09186a00806c1cd5.shtml#server