trying to set up VPN

i have a macbook that i'm trying to connect to my router at home, a netgear dg834g, over vpn. i have a static ip with my isp and both mac and router have full software/firmware updates. i don't really know how to set this up and the usual google search on the subject hasn't helped so i'd apreciate any help

thanks

see if this helps

www.st-andrews.ac.uk/its/wireless/docs/wireless_osx104_print.pdf