zywall 2 to endian 3

[Guest]

[Stefano]

hi guys, can someone point me to right direction to have a working VPN tunnel between an old zywall 2 and a new endian 3.0 CE ?
I  start from he following scenario :

endian 3 on main office with a static public IP
zywall 2 on secondary with a dynamic IP and maybe not public.

zywall2 should connect to VPN server at the main office, acting quite as a roadwarrior, but we also need to have granted access to some printer or resource in its own net.

is it possible?

TYA Stefano