Well first thing i we need to know is what type of encryption are you planning on needing? There are many different ways to accomplish a VPN tunnel. You could use IPsec, EOIP, and PPTP.
Firstly, I wouldn’t use Public IP’s in the LAN side of the site two, because if you have to access any web page which has any IP of the range 20.0.0.0/24 you will not be able to access it, since the requests will be forwarded to your LAN.
Secondly, the easiest way is to configure IPIP tunnels for these both sites, the configuration would be something like this:
Router-1
interface ipip add name=Tunnel-1 local-address=192.168.1.2 remote-address=192.168.0.2 disabled=no
ip address add address=172.16.0.1/30 interface=Tunnel-1
ip route add dst-address=20.0.0.0/24 gateway=172.16.0.2
Router-2
interface ipip add name=Tunnel-2 local-address=192.168.0.2 remote-address=192.168.1.2 disabled=no
ip address add address=172.16.0.2/30 interface=Tunnel-2
ip route add dst-address=10.0.0.0/24 gateway=172.16.0.1