Refer the following configuration example,
isakmp policy 20 authentication pre-share
isakmp policy 20 encryption 3des
isakmp policy 20 hash md5
isakmp policy 20 group 2
isakmp policy 20 lifetime 3600
isakmp enable outside
access-list 100 extended permit ip source_ip 255.255.255.0 dest_ip 255.255.255.0
nat (inside) 0 access-list 100
tunnel-group DefaultL2LGroup type ipsec-l2l
tunnel-group DefaultL2LGroup general-attributes
authentication-server-group none
tunnel-group DefaultL2LGroup ipsec-attributes
pre-shared-key
crypto ipsec transform-set myset esp-3des esp-md5-hmac
crypto dynamic-map cisco 1 set transform-set myset
crypto map dyn-map 20 ipsec-isakmp dynamic cisco
crypto map dyn-map interface outside