We have successfully set up a VPN configuration for many Dial-in Cisco VPN Client into our 515E box (version is 7.0).
Each user has its own IP statically assigned (no IP Pools). All IPs are in the range 10.81.60.0/24.
We use nat exemption so that the PC on VPN network 10.81.60.x can connect to 10.95.x.x without translation.
Now the question: After the VPN is established we need to connect from a machine on 10.95.x.x to a PC on 10.81.60.x with *port translation*. Example: 10.95.1.1 trying to connect to port 21 at 10.81.60.100 should be translated to 9000 @ 10.81.60.100. Is this possible?