Vpn Server Error 721

I enabled routing & remote access on a small business server 2003, I configured the selected user account to allow VPN connection through active directory,

On the client side; I configured a new vpn connection, when I try to connect I get the message ” error 721= remote computer did not respond ”

As I can connect on server, but I am not able to connect form internet/Local Area network.

Note:- currently we are not using any Firewall or router.

Please help me to solve this problem.

Thanks
Ashvin