You will need to install a VPN client on each machine that needs to access your LAN resources at the central site.
Since there are several machines behind a NAT device (at each remote site), it is most likely that you are doing a many-to-one NAT on the NAT device i.e. NATing all inside PCs to one public IP. In such case, do the following.
On the PIX-515E, enter the command "isakmp nat-t".
Then if there is any filtering being done in between the PIX-515E and the PCs running the VPN client (EXCEPT for the PIX-515E ACLs), make sure that the following protocol and ports are open.
1. Protocol ESP (50)
2. UDP/500
3. UDP/4500
That's it.