Hello Jamie,
Cisco does not currently have a supported IPSEC VPN client for the WRVS family of routers. We have seen others try 3rd party VPN software like Greenbow, Shrew Soft, and IPSecuritas to name a few. Please be aware that Cisco support will only support the configuration of the tunnel on the router and not the functionality of the VPN software with the router, or the configuration of the VPN Software.
Cisco Small Business Support Center
Randy Manthey
CCNA, CCNA - Security