We will split this blogtorial into 2 parts. Part 1 will concentrate on how to setup up the IPsec-manual tunnel and Part 2 will concentrate on how to decrypt the traffic between the two VPN end points. Reason we are setting up a ipsec-manual instead of a ipsec-isakmp VPN is because we cannot get the IPsec session keys to decrypt the packet if isakmp is used.
Consider this simple 2 router topology and let's get started.