I found those related posts helpful:
but I'd like to know how to configure my router and the other necessary components.
I have a Buffalo nfinity router with built-in PPTP VPN Server and OpenVPN support. However, I'd prefer not using OpenVPN because my iPhone and Tablet do not support OpenVPN (I think). I'd also like not to have to use a computer for the VPN because I will be connecting to multiple computers on the network, not all up all the time. Plus I use my router's USB for mini-NAS sorta setup.
My question is how to configure this VPN setup, specifically so it can be accessed by an iPhone and a Tablet.
Additionaly I will need to set up with a static IP service, any advice on which one? DynDNS isn't free but I'm debating whether to use it or not.