Config for Cisco L2TP client to ROS L2TP server?

Hi all,

Had a look around but can’t actually find what I’m looking for.

I have a ROS (5.21) RB acting as an L2TP server, and is accepting connections just fine from other ROS devices. I need to configure a Cisco router, to connect in via L2TP as well?

Does anyone have a working config for a Cisco using L2TP to connect to ROS?
No IPSEC, just a straight L2TP tunnel…

Thanks,

Wazza