VPN tunnel between 2 RRAS servers, both performing NAT with 2 network connections

I have a need to configure an IPSEC policy between 2 networks.  Both servers are located at separate offices, are virtual, are 2008 R2 standard,  and only perform the function of NAT between a public IP and the LAN.  They each have 1 network
adapter with a public address and 1 adapter with an internal LAN address.  I would like to setup an IPSEC policy between these 2 RRAS so that both LAN's can communicate.
My question's; would this be the best method to get this accomplished?  If not, what are best practices?  Does anyone have documentation for this type of setup?
I can create a policy between 2 servers, each behind each RRAS vm, but I'd like to keep domain controllers, AD, etc. out of this and not exposed - just have RRAS handle it.

What you need to do is look for a guide to site to site VPN which you can follow. There are plenty out there of varying degrees of clarity and accuracy.
  The situation briefly is that each site operates normally using its router as a NAT device to provide Internet access for the LAN. In addition, each router is configured to provide a router to router VPN link. Each router has a static route to forward
traffic for the subnet of the other site through the VPN tunnel.
The net result is that a client wanting Internet access uses NAT to give it an Internet connection. If instead the client wants to access the other site, the request is sent through the VPN tunnel. There is no confusion because Internet addresses must be
public and the site addresses are private. This is all transparent to the client because it is all handled by the routers. The client simply sends the packet to the default gateway. 
  The private traffic between sites is encrypted and encapsulated while it is crossing the Internet. The Internet routers see only the public address on the wrapper. The other site sees only the private IP of the packet after it has been unencapsulated
and decrypted. The two sites behave as if they were linked by an IP router, but the operation is slow because of the delay in getting the packets from site to site.  
Sorry about the link. http://www.youtube.com/watch?v=m-sakEbVDQ4
Bill

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