first of all you will need to configure the following elements on the routers:
1.Crypto Policy
2.Transform-set
3.Defining your crypto map
4.Access-list
5.Crypto Policy
Here you would specify/define the IPSec policy and keys for a connection.
Here is an example:
crypto isakmp policy 1
(You name your policy here)
hash md5
(You specify your hash algorithm that used for integrity checking)
authentication pre-share
(How do you want to share your key or signature)
crypto isakmp key NetFestVPN address 12.1.X.X (Present the preshare key and address that its valid to.)
Transform Set
The transform set is how you will encrypt your data over the tunnel and how you will authenticate. Here is an example of a transform set:
First define that its IPsec, the transform will be called Netfest-vpn. The VPN will use ESP (Encapsulated Security Payload) DES encryption with md5 for the hash.
crypto ipsec transform-set Netfest-vpn esp-des esp-md5-hmac
Crypto Map
The crypto map defines who your remote site is (peer), what type of IPsec your using (isakmp = IKE), and what pre-configured transform youll use, and an access list that will filter in the data traffic you want flowing over your VPN.
Once all done just apply the crypto name under the sub interface you will create for the point to point connection:
interface Hssi2/0
no ip address
encapsulation frame-relay
no shut
interface Hssi2/0.1
description point to point remote site
bandwitdh
ip address 10.18.X.X
crypto map remote
hope this helps