VPN tunnel connection between a Mikrotik and Cisco Router

RouterOS Beginner Basics
1

Hi, i´m trying to make a VPN connection ( tunnel) using a Mikrotik CRS125-24G-1S-Rm and a Cisco router RV016. Someone can help to make the correct configuration on Mikrotik ?
I use the cisco router with IP 172.16.1.0/24 on LAN ports and 10.0.0.1 on WAN port
On Mikrotik 192.168.96.0/20

Thanks