VPN / Server 2003

Can someone help me? Having never set one up, I am still unclear on VPN’s. I will be running Server 2003 and will have a DSL line with a static IP from my provider. Do I need seperate hardware to do the VPN or is it better to use seperate hardware? As I understand it, Windows will do this without any additional hardwate. I think I am getting lost on which IP to use. Right now I am using just a Linksys 1 port router to share the internet connection. The router is also doing DCHP. If the server has an internal static IP, how do I access it from the outside? Thanks.
Mike