In addition to the above link, you can also find a specific config example at the link below.

http://www.cisco.com/en/US/docs/ios/sec_secure_connectivity/configuration/guide/sec_easy_vpn_srvr_ps10591_TSD_Products_Configuration_Guide_Chapter.html#wp1519417

crypto isakmp policy 1
encr aes
authentication pre-share
group 2
!

crypto isakmp keepalive 3600 5
crypto isakmp nat keepalive 3600
crypto isakmp xauth timeout 60

!
crypto isakmp client configuration group vpn-client-group
key MySeCrEt
dns 10.1.1.1 10.1.1.2
domain mydomain.com
pool ippool
acl 108
include-local-lan
!
!
crypto ipsec transform-set AES-STRONG esp-aes esp-sha-hmac
!
crypto dynamic-map dynmap 20
set transform-set AES-STRONG
!
crypto map mycompany_vpn client authentication list userauthen
crypto map mycompany_vpn isakmp authorization list groupauthor
crypto map mycompany_vpn client configuration address initiate
crypto map mycompany_vpn client configuration address respond
crypto map mycompany_vpn 20 ipsec-isakmp dynamic dynmap
!
Apply the crpyto map to the interface. Make sure to make the interesting traffic ACL (108 above) and no NAT the traffic. Creat local user accounts with;

username vpn-mmessier secret [vpn password]

Check this link for more examples.

http://www.cisco.com/en/US/tech/tk583/tk372/tech_configuration_examples_list.html#anchor15

Hope it helps.