Virtual lan with pubblic ip and dhcp through intranet

I’m trying for days to find a way to create a type of network so that:

My situation is as follows:

pc1 88.137.199.30/24 through router1----> (to master router)
pc2 88.137.199.178/24 through router2----> (to master router)

(from clients) —> Master Router gw 88.137.199.1 loopback----ether0======>INTERNET

Nota:

I’m thinking if you can use ipsec to connect the routers arranged in tunnel mode.
But I don’t know how to do :frowning:

Can you give me any idea?

Thank very much!

MarK