Hi .. you could connect the routers to 2 interfaces on the ASA with the same security level (0 ) in this case.
You could configure the router's internal interfaces and the ASA's outside with a private range i.e 192.168.1.0/24. you could create a static NAT on one of your routers ( Public IP <-> Outside interface 1 of ASA) this can be used for VPN access. The ASA neeeds to have static routes for the VPN networks pointing to to link 1 and a default route pointing to the Internet link 2.
NOTE: if you are able to use BGP on your 1721 then it would make life so much easier as you can configure OSPF bewteem then and the ASA and inject deafult routes with different metrics.
if you dont have too many site to site vpn than you could configure the asa with static routes to go through one of your router for all the vpn sites and default routes for the second connection . Are those 17oo routers yours or your service providers .
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We have configured the outside and inside Interface with official ipv6 adresses, set a default route on outside Interface to our router, we also have definied a rule , which also gets hits, to permit tcp from inside Interface to any6.
In Syslog I also se...