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Cisco 871W router configuring VPN

So for the past 3 hours, I've been trying to configure a VPN server on my Cisco 871W router. I've managed to get everything working on it, EXCEPT the VPN. Does anyone have any helpful hints? I've looked online and everywhere I have looked and tried, seems to fail. I have one setting that allows me to connect to it and that part works, but when I try to connect to something inside the network for example another computer via the IP address it fails. If anyone can help me it'd be great. If you'd like to try yourself let me know and I will get you telnet access. Does anyone have any configurations they could let me see to see where I went wrong, or what.

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