Soup to Nuts VPN

I am running Mac OSX 10.3.2 on an older G4 with an Airport Card at home. I am trying to connect to either a Netgear FSV318 or a MultiTech System 550 VPN router at my work. Also in the mix at home is an Airport Extreem Base Station connected to a cable modem. I need to have an IPSEC vpn to my work LAN. I've tried VaporSec, VPNTracker and neither have been able to successfully make the connection. I have full access to both of the remote VPN routers and can configure them at will to make this work.