HSRP is supported on the 801 starting with IOS release 12.1(3)XG, so you are likely to be ok with your 801 routers.
As with regard to the exact configuration of your backup, what device (if any) do you have in front of the PIX ? Basically, you would need to create a secondary VPN between the 801 and the PIX, and by configuring HSRP between the 837 and the 801, traffic would traverse either VPN, depending on the availability. You also might want to set up interface tracking (where you track the ISDN interface on the 801 and the ATM interface on the 837), in order to detect a WAN failure, and have HSRP act accordingly.
Let me know if you need help with the setup and configuration details.
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