This is fairly easy once you figure out what the VPN fields should be set to:

• Settings / General / Network / VPN / Add VPN Configuration... / IPSEC
• For PSU  at University Park
  • Description: UP connection to ITS wireless
  • Server: mobility.up.psu.edu
  • Account: your access account
  • Password: your access account password
  • Use Certificate: grayed out - don't use
  • Group Name: pennstate
  • Secret: pennstate
• Save
• Turn on VPN w/slider

Update: Doesn't seem to be remembering my password...have to type it in every time.