Site to Site vpn config example ASA 8.4 or newer.

Just copy paste.
Mirror this config on the other side.

crypto ikev1 enable outside
crypto ikev1 policy 10
authentication pre-share
encryption 3des
hash md5
group 2
lifetime 86400
!
object network OBJ-SiteA
subnet 10.0.0.0 255.255.255.0
object network OBJ-SiteB
subnet 10.0.3.0 255.255.255.0
!
access-list VPN-TRAFIC extended permit ip object OBJ-SiteA object OBJ-SiteB
nat (inside,outside) source static OBJ-SiteA OBJ-SiteA destination static OBJ-SiteB OBJ-SiteB no-proxy-arp route-lookup
!
tunnel-group 200.200.200.200 type ipsec-l2l
tunnel-group 200.200.200.200 ipsec-attributes
pre-shared-key cisco123
isakmp keepalive threshold 10 retry 2 (Optional)
!
crypto ipsec ikev1 transform-set VPN-TRANSFORM esp-3des esp-md5-hmac
!
crypto map CRYPTO-MAP 1 match address VPN-TRAFIC
crypto map CRYPTO-MAP 1 set pfs group2 (Optional)
crypto map CRYPTO-MAP 1 set peer 200.200.200.200
crypto map CRYPTO-MAP 1 set ikev1 transform-set VPN-TRANSFORM
crypto map CRYPTO-MAP interface outside



Related Article :

http://www.petenetlive.com/KB/Article/0000050.htm

Cisco site to site VPN Configuration Cheatsheet

Cisco
VPN

Please find enclosed the cisco site to site VPN configuration in a nutshell. These basic commands would help in configuring a site to site VPN setup. This can also assist in troubleshooting vpn issues.

VPN Configuration Steps:

sysopt connection permit-ipsec
Phase I
isakmp enable outside
isakmp policy 10 encryption 3des
isakmp policy 10 hash md5
iaskmp policy 10 authentication pre-share or rsa-sig
isakmp policy 10 group 2
isakmp policy 10 lifetime 86400

isakmp key abc123 address 192.168.1.2 netmask 255.255.255.255
isakmp identity address

show isakmp policy
show isakmp

Phase 2
access-list 101 permit ip 10.0.1.0 255.255.255.0 172.16.1.0 255.255.255.0
nat (inside) 0 access-list 101
crypto ipsec transform-set customer1 esp-des esp-sha-hmac

crypto map PIX1MAP 10 ipsec-isakmp
crypto map PIX1MAP 10 match address 101
crypto map PIX1MAP 10 set peer 192.168.2.1
crypto map PIX1MAP 10 set transform-set customer1
crypto map PIX1MAP 10 set security-association lifetime seconds 28800
crypto map PIX1MAP 10 set pfs group1
crypto map PIX1MAP interface outside

crypto dynamic-map dynamic-map-name dynamic-seq-num

show crypto map
show isakmp
show isakmp policy
show access-list
show crypto ipsec transform-set
show crypto map

clear crypto ipsec sa
clear crypto isakmp sa
debug crypto ipsec
debug crypto isakmp

Steps to configure a simple site-to-site IKE/IPSec connection with examples:

ciscoasa(config)# vpnsetup site-to-site steps

Steps to configure a simple site-to-site IKE/IPSec connection with examples:

1. Configure Interfaces

interface GigabitEthernet0/0
ip address 10.10.4.200 255.255.255.0
nameif outside
no shutdown

interface GigabitEthernet0/1
ip address 192.168.0.20 255.255.255.0
nameif inside
no shutdown

2. Configure ISAKMP policy

crypto isakmp policy 10
authentication pre-share
encryption 3des
hash sha

3. Configure transform-set

crypto ipsec transform-set myset esp-3des esp-sha-hmac

4. Configure ACL

access-list L2LAccessList extended permit ip 192.168.0.0 255.255.255.0 192.168.50.0 255.255.255.0

5. Configure Tunnel group

tunnel-group 10.20.20.1 type ipsec-l2l
tunnel-group 10.20.20.1 ipsec-attributes
pre-shared-key P@rtn3rNetw0rk

6. Configure crypto map and attach to interface

crypto map mymap 10 match address L2LAccessList
crypto map mymap 10 set peer 10.10.4.108
crypto map mymap 10 set transform-set myset
crypto map mymap 10 set reverse-route
crypto map mymap interface outside

7. Enable isakmp on interface

crypto isakmp enable outside

Configure a Site 2 Site VPN on a ASA

In this article I will be showing you how to configure a Site 2 Site VPN on a ASA.
Also included within this example is a group-policy (named "Example_Policy") which we restrict access between the 2 endpoints to just tcp/80 traffic.
Please Note : This example presumes that you have already created the object groups for Local_LAN and Remote_LAN.
Access-Lists

Add the ACLs which we will need to NAT, the encryption domain and the group policy.

        access-list Example_Policy_ACL extended permit tcp object-group Local_LAN object-group Remote_LAN eq 80
        access-list Example_Policy_ACL extended deny ip any any
        access-list Example_VPN_ACL permit ip object-group Local_LAN object-group Remote_LAN
Group Policy
Create your group policy which will restrict traffic between hosts within your encryption domain.
        group-policy Example_Policy internal
        group-policy Example_Policy attributes
              vpn-filter value Example_Policy_ACL
              default-group-policy Example_Policy
NAT
Add your No NAT for traffic within the encryption domain
        nat (outside) 0 access-list Example_VPN_ACL
Tunnel Group
Create your tunnel group which will include your pre-shared key.
       tunnel-group [Peer IP] type ipsec-l2l
       tunnel-group [Peer IP] general-attributes
            default-group-policy Example_Policy
       tunnel-group [Peer IP] ipsec-attributes
            pre-shared-key [pre-share key] 
Phase 1
        crypto isakmp identity address
        crypto isakmp enable outside
        crypto isakmp policy 10
           authentication pre-share
           encryption [?]
           hash [?]
           group [?]
           lifetime [secs]
Phase 2
        crypto ipsec transform-set [transform set name] esp-3des esp-sha-hmac
        crypto map outside interface outside
        crypto map outside set transform-set [transform set]
        crypto map outside 20 match address Example_VPN_ACL
        crypto map outside 20 set peer [Peer IP]
        crypto map outside 20 set security-association lifetime seconds [secs]