If both sides are using identical encryption domains, you'll need to:
a.) Configure Policy NAT on both ends of the tunnel
b.) Use a Public <-> Private or Public <-> Public VPN connection
c.) Change the internal subnet of one firewall.
The key thing to remember about option A it that you have to policy NAT on both sides since the subnets are identical:
Example of config on ASA:
access-list Policy_NAT extended permit ip
static (inside,outside) access-list Policy_NAT
access-list crypto_ACL extended permit ip
Also remember that the policy NAT static statement will need to be located above any other static NAT statements.