Really it is very easy.
You need to set up a tunnel first and enable it.
For your local secure group choose subnet, this is the LAN for the router you are configuring. For the remote do the same, but enter the IPs for the other LAN. Remember to end both subnets with a 0, 192.168.1.0 for example.
The remote security gateway for the static router will be Any and for the Dynamic router will be the static IP of the Static router.
The following steps will be the same for both routers.
For encryption, use 3DES and for authentication use SHA, as those are the most secure.
Key Mgmt, Auto. Check pre-shared key and enter a key name.
Once you have configured and saved all the info on both routers, from the Dynamic router, click Connect. You should connect. If not, click view log and post the output here, and we'll help...
Oh, and of course you must already be connected to the Internet.
Thanks,
Matt Wray
MCSE, MCSA, MCP, CCNA