Become a MacRumors Supporter for $50/year with no ads, ability to filter front page stories, and private forums.
The Cisco VPN is there. Go to Settings > General > Network > VPN > Add VPN Configuration > IPSec tab. The rest should be self explanatory. After adding a VPN connection, you can toggle it on and off on the home page of the settings.
 
Register on MacRumors! This sidebar will go away, and you'll see fewer ads.