How to connect an android device to a VPN?
If your company is licensed for it, Cisco's AnyConnect ICS+ should work for you. Alternatively, ICS should support the correct configuration out of the box, but not all vendors have implemented this properly.

If you can't get it to work correctly using ICS's IPSEC support, you can try VPNC Widget, but it requires root, and if your phone doesn't have the TUN module built-in, it won't work.