There's a command line program,
vpnc which can be used to log into a cisco-compatible VPN on the command line. Enter the server address for the "gateway address", the group name and group secret for the IPSec ID and IPSec secret, and then the username and password, and it will start a vpnc daemon process in the background that connects you to the vpn.
To install it:
sudo apt-get install vpnc