easy hardware vpn
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its pretty hard to implement secure vpn tunnels using cisco IOS CLI (command line), although cisco introduced the SDM (Security Device Manager). which has a wizard to setup a vpn tunnel, but i think it still needs fine tuning using the CLI.
so, i good solution to setup site-to-site vpn tunnels or remote access ones, is to have hardware vpn devices, an affordable one is the liksys RVS4000, RV082 or RV042. which has an eassy to setup vpn capabilitis, ipsec, wan ports which could be PPPoE or static ips. for mobile workers you can setup the HQ vpn device to accept any vpn connection, which is usefull if the teleworker is setting behind a NAT device (ie. adsl modem). BUT, it has a drawback, the encryption is not that strong ( NO AES encryption supported).
another device is the Checkpoint SMB, it is more powerfull and reliable device, has the AES encryption supported too.

for more information about this topic don't hesitate to post a comment and i'll reply as soon as possible.