OpenVPN
OpenVPN is software to connect two LANs together, so that a client can access both subnets. OpenVPN, unlike IPSec, uses SSL/TLS to maintain secure connections.
Server Configuration
The simplest way to setup a VPN connection is to have the LAN's subnet address be different than a client's home subnet. For example, 192.168.12.0 at work, since 192.168.1.0 would be common elsewhere.
OpenVPN recommends UDP over TCP.