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Hi VPN Experts!

I have a set of single computers (terminals). Each terminal is connected to Internet via xDSL or Dialup connection. Terminal IPs are dynamic. Terminals would like to communicate to each other via sending messages.
Here I see 2 problems:
1) Provide secure communications over Internet.
2) Terminal addressing. The IPs are dynamic. So, any terminal doesn't know IPs of other terminals.
My understanding is that I need to create VPN for my terminals. It would solve the both problems.

What architecture such VPN should have? What are the BKMs?
I think that I need a separate host in Internet with static IP. It will be my VPN server.
Each terminal will have VPN client software and will connect to that server using the server's static IP. After terminal have connected to the server (to the VPN), it receives predefined IP (or hostname) in that VPN and can communicate with other terminals using the predefined IPs. Is the scheme I proposed correct? Can you point me to any resources which may help me to implement it?
I propose node-to-net connection type for every my terminal. Should I use node-to-node connections, instead?

Thanks for your help!
~Alexey