Is the VPN client on the inside of your router or is the client out in the public internet and the VPN endpoint is in your network?
The solution depends on which one.
Most consumer routers come with an option to allow ipsec passthrough, as ikalmar said. Linksys is a good example of these types of devices.
The Cisco VPN client is an ipsec slient, so if this is on the inside network going out to the public, then all you need to do is make sure you have the latest firmware on the router, and make sure IPSEC passthough is enabled.
If the client is on the outside and you want to connect internally, there are some additional items we need to complete.
So, I guess my question is, "Is the client on the inside or outside, and if its on the outside, what internal device are you connecting into?"