Cisco IPSec config

I am trying to do an IPsec tunnel from an MP70 to a Cisco 4351 Router. I cannot get them to link up. What IP address am I supposed to use for the MP70? How do I find it? I tried using the IP that it says is the Active WAN IPv4 address but that does not work. I cannot ping that IP from my Cisco router. Is there a hidden IP somewhere that I can’t see? I can however ping my Cisco router from the laptop connected to the MP70. If there is a sample config out there of what I should be trying on my Cisco device to get this connected, I would greatly appreciate seeing it.