Site 2 site mikrotik to Cisco 800 series

Hi,

Wondering if any one can shed some light on my question…
I have a Cisco 800 series router (the Hub) that has 1 public static ip address. I also have 1 Microtik router, at home that I have a DDNS script.
The home router is fully reachable via the net, DDNS works well. I would like to setup a IPSec VPN between the two devices.

What config would I need to do on these devices? I have setup IPSec VPN between 2 Cisco devices before, but both were Cisco and on static ip’s.

Can this be done, and if so could some one give me a run down.

Cisco is on the 192.168.2.0/24 network
Mikrotik is on the 192.168.211.0/24 network

Regards