Hi,
There's quite a lot of information related to setting up a VPN. You need to make sure that all parameters of phase 1 and phase 2 match on both ends so the tunnel can be negotiated and that the correct traffic passes through the tunnel.
Once you get the entire thing is really stright forward.
If you have no experience with IPsec, the best thing is to set it up following the wizard on the GUI interface.
I am including a document that shows how to set a L2L tunnel between an ASA and an IOS router for your reference:
http://www.cisco.com/en/US/products/ps5855/products_configuration_example09186a0080a9a7a3.shtml
If both sides of the tunnel are ASAs you just focus on the ASA side of the configuration to mirror that configuration on the other end (actually ASDM also helps you with that).
Hope it helps.
Federico.