1) Get the required protocols
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sudo apt-get update && sudo apt-get install pptp-linux vpnc
2a) for PPTP you make a one-liner like this, it will connect you at once:
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sudo pptpsetup --create myvpn1 --server server.com --username machinebacon --password iwantasmallerdick --encrypt --start
2b) for IPSec you create a config file and save it as (eg.) /etc/vpnc/myvpn1.conf
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IPSec gateway server.com
IPSec ID vpn
IKE Authmode psk
IPSec secret something.secret
Xauth username machinebacon
Xauth password thebiggerthebetter
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sudo vpnc myvpn1
#disconnect: sudo vpnc-disconnect