Hi Palash,
You could use Lan-to-lan IPSec tunnel or Remote access IPSec VPN to achieve this.
In case of lan to lan tunnel, you will have a vpn tunnel between 2 devices (say between 2 routers) and networks behind each one of them can communicate with each other.
remote access VPN is where in you install VPN client software on every machine in the network and users connect to the router which acts as the VPN headend.
So depending on what you want to configure, here is the config example for each.
Lan to Lan:
http://www.cisco.com/en/US/tech/tk583/tk372/technologies_configuration_example09186a0080094525.shtml
Remote access:
http://www.cisco.com/en/US/products/hw/routers/ps274/products_configuration_example09186a0080819289.shtml
Hope this helps.
Regards,
Manisha Mandekar