VPN Problem

I am having problem connecting to my company network from home using VPN. By the way I am a newbie. Here are the scenarios: (1) The company has a wireless modem and a wireless WRT54G Linksys Router which a desktop pc is connected
(2) At home I have a wireless laptop, modem and a Belkin wireless G
Router. (3) My problem is that I cannot connect the VPN from home. My laptop will connect when I am work only. So please can anyone tell me what I am doing wrong or what should be done. I am a bit challenged.