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For those of us that need to connect to clients/partners that use the Cisco VPN utility, getting it to work on Linux can sometimes be a bit of a mission. Luckily the Open Source World always has one or more alternatives. In this case, ShrewSoft VPN.

Follow the steps in this guide carefully and you’ll have the client working and running in no time.
Please note, this post is an adaption of this StackExchange question/answer.
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