This link should give you step by step to setup RA either through asdm/pdm or cli,If you have already implemented it what seems to be the problem.
"I want to terminate remote access VPN on the inside network"
Im not quite clear here on this question, you want to terminate the tunnel in your inside interface or outside interface? where will the users connections be comming from ? if RA users will be connecting to your network via internet the interface in your pix facing internet is the interface one terminates the tunnel on, in any case if you have an interface other than the outside interface where you terminate the tunnel the same principle applies assuming the RA connections will be comming to the pix on a different interface.
Table of ContentsIntroductionVersion HistoryPossible Future
UpdatesDocuments PurposeNAT Operation in ASA 8.3+ SectionsRule Types
Network Object NATTwice NAT / Manual NATRule Types used per SectionNAT
Types used with Twice NAT / Manual NAT and Network Obje...
Table of Contents Introduction:This document describes details on how
NAT-T works. Background: ESP encrypts all critical information,
encapsulating the entire inner TCP/UDP datagram within an ESP header.
ESP is an IP protocol in the same sense that TCP an...