Step one is to get vpnc. Most distributions seem to have a pre-built package so have a look around. For SuSE or RedHat it looks like this:
SuSE
# zypper install vpnc
RedHat
# yum install vpnc
- The host you are connecting to (Host=)
- A group name (GroupName=)
- An encoded group password (enc_GroupPwd=)
# grep enc_GroupPwd name.pcf | awk -F= '{print $2}' | xargs cisco_decrypt
# vi /etc/vpnc/vpnc.conf
IPSec gateway host_or_ip_from_Host=
IPSec ID group_from_GroupName=
IPSec secret output_from_cisco_decrypt
e.g.
IPSec gateway 44.24.21.2
IPSec ID IPSec-Grp
IPSec secret mysecret
Xauth username myID
Once that is all done, you can connect and disconnect like this
# vpnc /etc/vpnc/vpnc.conf
  Enter username for _host_: _id_
  Enter password for _id_@_host_: 
  Connect Banner:
  | 
  | Secure VPN Server
  | Authorized Users Only
  | Successfully Authenticated
  | 
  VPNC started in background (pid: 7726)...
# ifconfig
tun0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          inet addr:ip  P-t-P:ip  Mask:255.255.255.255
          UP POINTOPOINT RUNNING NOARP MULTICAST  MTU:1412  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:500 
          RX bytes:0 (0.0 b)  TX bytes:0 (0.0 b)
When you're done
# vpnc-disconnect
Terminating vpnc daemon (pid: 7726)
