have a look at the link below, it contains a sample configuration for an IPSec connection between two routers. Basically, on each router, you define the addresses with which you are peering, and then specify which traffic to encrypt. If you have private addresses on your LAN side, and public addresses on your WAN, you also might need to define NAT (Network Address Translation). Give it a try, and if you run into trouble, post the configurations of both routers with what you got so far.
You need to throw more lite on the kinda encryption you wanted to have in place between the locations.
As correctly mentioned by George you can go ahead with configuring IPSEC on both the routers which can provide you enough strength.
As you have mentioned that you are running with P2P leased line i dont see any point in using encryption on that since its going to be your own locations and not getting connected to any SP(Public Network) in that case you can make use of enough encryption strength to your traffic.
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