Hi
The below link discusses a typical scenario similar to the one which you are looking out for...
http://www.cisco.com/en/US/tech/tk583/tk372/technologies_configuration_example09186a008009475c.shtml
Once you are don with creating the crypto maps with the below steps you can apply the same under the interface which is connected to the DSL network with a static floating route for your respective local lans pointing towards the same.
1.Create ISAKMP parameters like hash, encryption, authentication and preshared key.
2.Create a transform set with the required encryption strength you would like to have for your lan trafic.
3.Create an access list permitting respective local lan access between your locations.
4.Create IPSEC policies incorporating peer address (i.e., remote routers ip address),transform set and the interesting traffic.
regds