Cisco VPN setup

I've been looking most of the weekend for a way to setup VPN on my home network.

I just want it for connecting to my home network from work and the like.

Before, I always just tunneled over ssh... but I figured I'd try something new.

All the docs I've found are from branch to branch... or router to router, etc.

I want the Cisco router to be the server and a desktop to be the client...

Much like you can do with a Linksys VPN router.

I'm not having much look locating documentation or anything useful.

The SDM won't allow this and wants a site to site connection.

Anyone ever done this? How can I do it?

I have a netgear vpn router that I could use but defeats the whole purpose of me getting this Cisco 831.

Thanks in advance.

EDIT:

Found it!!
http://www.cisco.com/en/US/products/...080087d1e.html

Config isn't suppored by the SDM, but I'm not shy with the CLI.