how to enable VPN between these router and allow through PIX?

Hi All,

how to enable VPN between these router and allow through PIX?
Site I : T1
Router Cisco 1721
Firewall CISCO PIX 506e
Site II : T1
Cisco 1721
Firewall PIX506e
Site III: Bonded T1
Router :CISCO 12651
Firewall: Cisco PIX 515r

Thank you,
Siva

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