Media for Good low cost home VPN solution?

Anyone have advice / figured out a good low cost home VPN solution .... meaning I can access various resources on my 192.168.1.xxx network.

I currently have several ports open to access specific applications or resources - but I would rather VPN and access anything on the home network.

I have a Linksys RP31P2 Router with 2 Vonage phone lines.

I could get a different router that supports VPN. I could set a up VPN server between the cable modem and the router.

What have others done?

Thanks in advance