If you're going over the Internet yea, have a router with VPN support. You can have a router then a VPN firewall and have the router pass it through to the VPN box but that's just more hardware to buy.
I setup an old computer into a router box, using pfSense , it has VPN support.
*EDIT*
You can read here for more information, this is using IPSec.
pfSense looks really cool. I've got a box running m0n0wall at the moment. I think I may be upgrading. Of course, now I can't remember if I still have a hard drive in that box anymore...
D*mn you people showing your neat new toys on these boards!