Laptop to OpenBSD firewall VPN

I have been tasked with setting up a VPN arrangement to enable our user
population to contact our servers from their laptops at home. I have
reviewed the vpn man pages as well as the VPN overview that's available and
think I understand them. However, it seems like they describe a setup to
link two networks across the Internet in a static arrangement. We envision a
dynamic arrangement with, I assume, some kind of client software to be run
on the laptops that will contact the firewall and set up a secure VPN link.

None of the doco seems to apply to our situation. Can anyone point me toward
some info on how to set this kind of thing up? It seems like there should be
some online doco or a book that describes this, but I haven't been able to
find one.

TIA.

Bernard Golden