Will Linksys BEFSX41 VPN do this?

Hi,
My experience with VPN is that when I worked for a large company I could
take my laptop, connect to the internet, startup XP's VPN and connect to my
companies server. I would get a company 'internal' IP address and it was
just like I was on the internal network.

Now, at home, I have an internal network and a linksys BEFSX41 (firmware
1.45.7) connecting me to the internet. The documentation says that the
linksys has VPN, and, indeed, it has a tab for VPN.

My question is this... can I set the linksys router up so that when I
travel with my laptop I can connect to the net, go to my home's external IP
address and somehow set up a VPN tunnel so that it looks like my laptop is
connected to my internal home network? Can the linksys do this? If so
could somebody please explain the setting that would have to be made to the
VPN tab on the router, and the settings on my XP Pro laptop.
Thanks,
John