How to reduce the IPSec VPN connection establishment time

Hi,
I set up an IPSec VPN with NAT-T between two cisco router 871. In particular one router acts as a SERVER and the other one as  a CLIENT. All the traffic coming from the hosts connected to the CLIENT-router is sent over the VPN (no split tunnel). Everything works perfectly.
The only problem is the amount of time the VPN takes to establish the first connection between the two routers. In particular it takes about two minutes.
Could anybody tell me if this amount of time can be reduced (with a partcular configuration instruction)?
Or this is the minimum amount of time required for the first connection establishment?
Thank you for your help.

Sara,
Two minutes sound like a lot of time even with a super slow Internet connection. Could you share your configs to see if there is anything on the VPN config that is adding such a huge delay? The connection stablishment shouldnt take more than a few seconds.
Thanks,
Raga

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