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Most of Cisco's routers which are released on or after 2005 has L2TPv3 over IPsec protocol function. (If not, you might be able to upgrade the IOS version to support it.)
If you use L2TPv3 over IPsec, you can establish an IPsec-encrypted tunnel between the remote site's Cisco Router and the central site's SoftEther VPN Server.
This web page explains how to setup a Cisco 1812 or Cisco 892 router to connect the SoftEther VPN Server.