Hi,
Here is a config guide to configure remote access VPN on the ASA.
Regarding failover, you do not need to worry about the standby ASA IP address. When the active ASA goes down, the standby ASA at that point will take over the active IP addresses and hence the VPN tunnel would then be established with the other ASA.
Also, if you have stateful failover, the VPN tunnel would not go down during the failover event. If you dont have stateful failover, the VPN tunnel will have to re-established.
Hope this clears thing!! Let me know if there is anything unclear.
Thanks and Regards,
Prapanch