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How to configure an IPsec VPN tunnel between a PIX Firewall and a Cisco IOS router
IP Security (IPsec) can be configured on a network between a PIX Firewall and a Cisco IOS® router. These tasks must be addressed when you configure IPsec between the PIX and the router:
Configure Internet Key Exchange (IKE) for pre-shared keys.
Configure Network Address Translation (NAT).
Configure PIX system options (on the PIX only).
When you configure IKE for the pre-shared key, make sure the selected key matches exactly on both sides. The key is case sensitive.
Once you have finished that phase of the setup on the endpoint devices, the PIX, and the router, you must configure IPsec. The Access Control List (ACL) that the match address commands point to determines what traffic needs to go across the IPsec tunnel. No other traffic uses the tunnel.