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Configuration's VPN with Cisco RV042G

Good evening,
Problem: mountig a vpn conntection between two routers in  LAN (without internet connection)??
Problem's description:
Our archicture is based on two routers wich  are connected to a switch.
Our purpose is to mount vpn connection between these routers (without internet connection).
In the configuration interface of this router(cisco rv042g), it is mentioned that we only use the WAN interface to mount a VPN Gateway-to-Gateway instead of a local one. So  can we put a local address in place of the public one and mount the vpn? if yes how can i do it?
PS: i would like to notice you that we know it is unuseful to make a VPN in local network but it's our clients commitment. 
Yours sincerely,


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