Hi ,
Here is the document that you can refer to configure L2L static to dynamic VPN tunnel.
http://www.cisco.com/c/en/us/support/docs/security-vpn/ipsec-negotiation-ike-protocols/14131-ios-804.html
Regards,
Dinesh Moudgil
Cisco Network Security Channel - https://www.youtube.com/c/CiscoNetSec/