VPN 3005 and dyndns?

Still a newbie on this stuff....we're running a cisco VPN 3005 concentrator and have a small 5 PC office in Brazil. We'd like to get them set up with a LAN to LAN vpn connection with us (never did thsi before) but their public IP is dynamic. Is there any way to set this up using dyndns? I see on the concentrator where it lists to enter the peer but it states for "IP address" to be entered and nothing about host names.

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The Other Mike
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