VPN to SBS2003

I need some help as to setup VPN connection to SBS 2003. Let’s assume that I’ve setup the SBS side correctly because there’s not much to the few steps of setup procedures and BTW I don’t have static IP for this home server. What else do I’ve to get in order to dial in remotely to access the server, ie. a VPN router and VPN clients licenses. I’m using XP-Pro for dialing in. Any help be much appreciated.