Setting up a remote connection

I was asked to help a local rescue squad set up remote features. We are
having trouble setting everything to work. Each end has a Small LAN hooked
to the Internet by a Network Anywhere router and a sprint DSL connection.
How do we set up the VPN connection we need? Do we need a Domain to connect
to? How can we set this up without spending alot of money?



P. Lozier