If you are using the 5350, that has no analog ports, i am assuming you are using a T1 and doing fxo on the individual t1 channels.
You will need to set up your controller as :
controller t1 1/0
framing esf
linecode b8zs
ds0-group 0 timeslots 1-24 type fxo-ground-start
which will create a voice port :
voice-port 1/0:0
then you will need two dail peers each on the routers :
one to send the voip call to the other side
dial-peer voice 1 voip
destination pattern 1234 <--- number of remote side
session target ipv4:10.1.1.1 <--- ip address of remote side
and one to terminate the call on this router
dial-peer voice 2 pots
destination-pattern 5678 <--- local number
port 1/0:0 <--- local port
no digit-strip
On the analog side you will have two ports already associated and you should congiure them under the appropriate dial peers.
You can also take a look at :
http://www.cisco.com/warp/customer/788/voip/dialpeer_call_leg.html
http://www.cisco.com/warp/customer/788/voip/in_dial_peer_match.html
http://www.cisco.com/en/US/partner/products/sw/iosswrel/ps1835/products_configuration_guide_chapter09186a0080080aec.html
Regards,
Taimoor