VPN HELP? Small office, router, remote laptop

Hey all:

I have three WinXPpro machines sitting behind a Linksys (wrt54g) router, connected via DSL. The router assigns each machine and IP address via DHCP. My objective is to VPN in from anywhere I travel with my laptop (remote IP address will vary). I'm new to the VPN world and feel like I'm learning a new language. This is what I know. 1) My router supports VPN Passthrough, 2) my VPN protocals are all enabled (PPTP, IPSec, etc) on the router. Here are some of my questions: A) Since there's only one machine that I'm interested in connecting (tunneling) to, can't I just use the XP Net setup wizard to allow VPN connection on the passthrough machine? B) My router will allow me to place an address in the DMZ with static address? Should I do this after changing the IP address to static? Other options? Step by Step? C) What steps do I need to take on my laptop? I guess I'm primarily confused by the fact that my machines get their address DHCP so I don't know how to workaround that to tell the remote device where to connect to, if the IP is alwasy changing. Also, does it matter that I'll be traveling around different networks, w/ diff IP addy's. Help me if you can!! I'm willing to buy a router that support VPN "endpoint", if that will solve this problem. thanks, VPN "Very Patient Novice"