Below is the sample configuration between static and dynamic VPN peer address:
http://www.cisco.com/en/US/products/ps6120/products_configuration_example09186a00805733df.shtml
For dynamic to static VPN tunnel, the dynamic peer side will always have to initiate the vpn as the dynamic side knows about the peer ip of static asa, the static ip asa side cannot initiate the tunnel as the as doesn't know the destination peer ip as it is dynamic.
once the vpn is initiated and is up, both sides can talk to each other respectively.