The Views Expressed Below Do not in any way reflect Internal Doctorine or Official Statements of Netgear Inc. These are just my notes - Use at your own Risk.
The NETGEAR IPSEC VPN Client is based of the Greenbow VPN client.
Follow this guide to connect to a Cisco VPN: Its attached below "Green Bow VPN client to Cisco-sa500-series-en.pdf"
(Note I didnt make the Green Bow VPN client PDF, I found it online its courtesy of Greenbow)
To Connect the NETGEAR IPSEC VPN Client to a Netgear IPSEC Firewall follow this guide: http://www.kossboss.com/netgear---ipsec-client-vpn