Windows 2003 Server IPSec to Router

How do I establish an IPSec Tunnel from a remote Windows 2003 Server to my internal router without directing all traffic from/to the server through my router?

This is a hosted server, and needs to do its job without using the tunnel. The tunnel is to be there only to facilitate maintenance and SQL traffic from our “internal” computers. (I don’t want SQL access from any other remote location.)