VPN set up on Linksys WRV54G

I am trying to set up an end point VPN using a Linksys WRV54G to allow a remote WinXP pro desktop behind a Netgear MR814v2 router to connect to my PtoP network. I have followed the Linksys procedures for configuring IPsec between the remote XP desktop (Win SP2 software firewall is turned off on remote & client desktops)and for configuring the WRV54G Router. I have not done anything to the settings on the Remote Netgear router as I only want 1 way access to my P2P (all winxp pro desktops) network. Should this set up be able to work? I have called Linksys twice for long support sessions with no success.Any help would be very welcome.