Step 1: Create a Dynamic IPSEC Server.
Visuals below can be used as guidelines for your initial attempt. Make sure that the IPSEC Server is Enabled.
Step 2:
Create an IPSEC Key.
At the bottom of the page, you will see the IPSEC Keys section. You will need to add and Create your identifier and key.
Step 3: Client configuration
You will need to install the client on your device. And set up a similar configuration. Configuration may change due to differences in settings.