Multiple hosts but not subnet

[mirmit]

Hi,

I have to make a tunnel between two sites.

One one side I have 2 sevrers with their IP addresses (XX.XX.XX.17 & XX.XX.XX.66) with a Nortel Appliance
One the other side, I have 4 PCs with their IP addresses (XX.XX.XX.140, 110, 121 and 119) with pFsense 1.2.2

The server side is setup with the individual IP addresses for both end.

How can I match this on Client side (with PCs) ?

Thanks