a. Click Start, navigate to and click "Control Panel"
b. Double-click "Administrative Tools"
c. Double-click "routing and remote access"
d. Right-click on your device, which will show as a 'server'
e. Choose "Configure and Enable Routing and Remote Access" (RRAS)
f. At the RRAS setup wizard screen, click "Next"
g. In the setup Wizard, choose "Remote access (dial-up or VPN), then click “Next.”
h. Select “VPN,” since that is the function this server will perform
h. On the “VPN Connection” screen, choose the external NIC which will connect to the Internet
i. On the “IP Address Assignment" screen, choose the option to assign addresses automatically - this simplifies the overall setup, and allows the VPN client addresses to be assigned from your overall workstation DCHP address pool. Then click “Next.”
j. At the final screen, accept the default of “No, use Routing and Remote Access to authenticate connection requests, click “Next,” then “Finish,” which will enable the RRAS service
NOTE: we will assume NAT is enabled, since the VPN server will NAT addresses between Inside private net & Outside public net
The above steps configure the server for “remote access," but now we must configure it also as a router.
Steps to configure a Windows 2003 Server as a Router
Start, control panel, administrative tools, then click “Routing and Remote Access,” right-click your server, click “Properties,” click the “General” tab, then click the selection for “Router” under “Enable this computer as a,” then click “LAN and demand-dial routing,” then click “OK” to close the properties dialog box.
VPN SETUP DIAGRAM, A LOOK AT PART 2, AND REFERENCES
Diagram of Simplified RRAS VPN using just a Windows 2003 Server as a VPN server (click image to enlarge):

What to look forward to in Part 2. Part 2 details the steps for VPN Setup Using a Dedicated ISA Server. Also, Part 2 covers steps needed to Authorize VPN Users and steps needed to Setup VPN Client.
REFERENCES:
Microsoft's Server VPN setup instructions can be found here.
A TechRepublic VPN setup article can be found here.
Microsoft's Client VPN setup instructions can be found here.