For reference, 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 for code 7.x and above.
policy-map global_policy
class inspection_default
inspect ipsec-pass-thru
For PIX 6.x you need to open up Ipsec ports udp 500, udp 4500 and protocol 50 esp and apply the acl to outside interface.
e.i
access-list 101 permit udp any any eq 500 log
access-list 101 permit udp any any eq 4500 log
access-list 101 permit esp any any log
Also enable nat traversal in PIX:
isakmp nat-traversal 20
HTH
-Jorge
Jorge Rodriguez