IPsec for remote telephones

I want to activate IPsec for remote telephones, I have 2 Cisco 2651 and I'm trying to configure a IPsec tunnel between them, but when I try to use the command crypto in the configure terminal doesn´t exists, Is not possible by default the configuration of IPsec in all the routers? Do I need a license or something like that? How can I know if my router support IPsec? I have Cisco IOS 12.4
regards

And how I can add this feature?
Which solution do you suggest?

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