i want to set up vpn between my house and the office, i need the ability to access files and launch couple of programs.(regarding programs if that is possible)

I got BEFSX41 router at the office that has vpn with 2 tunnels support.
Both places have static ip internet. At home i got WGRT624 router with no vpn support. How do i set up vpn secure connection between to places? I need it to be secured.

TIA.