The document describes the configuration of two routers, R1 and R2, to establish an IPsec VPN using pre-shared keys for authentication. It then shows the configuration of a Certificate Authority (CA) and the enrollment of certificates on R1 and R2 to authenticate the IPsec tunnel using RSA signatures instead of pre-shared keys. Access control lists (ACLs) and crypto maps are used to define the traffic to protect and apply the IPsec policies.