Setting up a VPN in a SOHO enviornment – Comments/suggestions welcome.

I am a newbie at Networking and I am trying to create a VPN connection using 2 Linksys Routers. I recently found out that I need at least one end of the tunnel on a static IP which I will soon have. All systems are running Win XP Pro and the routers are BESFX41 (office) and WRT55AG (home). Does anyone have any tips for establishing the connection, and once the connection is made can I browse the host system through Windows Explorer?
Should I just invest in VPN software and if so what is recommended?
Thanks!