IPSec server on OS X with XP?

I have two computers the first is a running OS X server 10.2.6, a0nd is behind a regular home linksys router with a static IP. The second is an XP SP1 laptop that I take on my way places. I was able to set up a pptp server using the guide provided by AFP548 however the security provided by pptp is definatly not close to as secure as I need. Is there any way to set up the os x server to run as an IPSec server that I could make keys for and then set it up so all I would ever have to do is type in a user name / pass and the ip address and get connected to the vpn server that way. Any guides anyone knows of? I did read flying racoons but that only seems to support two os x machines that need a lot of pre configering on each machine that needs connecting, I'm looking for more of a server - client model.