How to connet two router by Dynamic Ip addres

Dear All.

I have Cisco two 1803W router i want use them
for connecting my Head office to WareHouse as using VPN. I have Following Question?
1. Can i connect them using Dynamic ? if yes How can ? what i have to do?

SEND ME REPLY ON THIS EMAIL ID LORRY_SHRIMAL27@HOTMAIL.COM

Thanks

Ritesh shrimal