Hi,
For your setup, static route is sufficient.you can also routing protocols as well if you wish.
If you go for routing protocols then same routing protocol should be configured at both ends.
Here is the link for Pix 506 configuratuion guide.
http://www.cisco.com/en/US/docs/security/pix/pix63/configuration/guide/overvw.html.
Revert me back, If you have any doubts. you can send them to my personnel-id also.
Jaffer_sathik2010@yahoo.com.
Please rate all helpful posts.
--Jaffer