OpenBSD VPN Setup

[Dr-D]

I hope I'm posting this in the right section. Before delving into this head first I'd like to know if I'm starting out on the right path. I want to setup a VPN with my OpenBSD 5.3 router at my house and connect to a Cisco RV042 router on the other end. I found instructions for connecting two OpenBSD routers at this link:
http://www.openbsdsupport.org/vpn-ipsec.html

If I setup my OpenBSD router with those instructions will it work connecting to an RV042 on the other side rather than another OpenBSD router? I know how to setup the RV042 router as I currently have a VPN setup with it connected to another RV042 at another site. Now I need to connect home network to the main office.

Thanks.