How to set up a VPN to access Router?

I work for a small company… we are in the cloud and have no servers on site. In fact we don’t share any data at all. We use Salesforce.com and Gmail. I’ve recently installed soft phones on all support laptops so they can access our VOIP phone system from home. The soft phones work fine in the office when they are on the network connection, but not from home as their IP has changed. I need to create a VPN connection so that my users can access their soft phones when working from home.

I can create a VPN (outgoing) connection, but just not sure where to connect and how? Do I need to turn the Netgear Router into a VPN server? What about Port Forwarding?

Thanks for the help!

Bobby