Assuming they can ping each other by IP and name, that is permission or credential issue. What they need to do is creating the same of the username with the same password on other client. For example, the username of the client A is A and the client B is B. You need to create a B on the computer A and A on the computer B. Also remember, you must logon A on the A computer and B on the B computer. If you logon C on computer A or B, that doesn’t work. Or you need to add C to each computer.
For more information see here:
http://www.chicagotech.net/VPN/accessvpnclient1.htm
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