Kehinde,
To use cisco vpn client from inside to connect to an outside RA Ipsec VPN server you simply need Ipsec pass through inspection configured in your global policy.
ciscoasa(config)# policy-map global_policy
ciscoasa(config-pmap)#class inspection_default
ciscoasa(config-pmap-c)#inspect ipsec-pass-thru
ciscoasa(config-pmap-c)#exit
See Ipsec pass through inspection section
http://www.cisco.com/en/US/docs/security/asa/asa72/configuration/guide/inspect.html
you may also want to enable nat-t
ciscoasa(config)#crypto isakmp nat-traversal 20
Nat-T backround
http://www.cisco.com/en/US/docs/security/asa/asa81/command/ref/c5.html#wp2195488
Once done your inside cisco vpn clients should be able to vpn outside.
HTH
Rgds
Jorge
Jorge Rodriguez