Creating VPN between two locations

Hello,

I am looking to create a simple VPN between two of my offices. They are located about 45 minutes from each other. I have about 4 workers in each with 2 mobile workers. I want to create a VPN for secure and safe connection. What components are needed. Do I need a modem and a router at each place capable of VPN? I have 4 computers at each location


OFF-NOTE: Is it possible for one location to be hooked up using UTP cables and the other location be hooked up wirelessly?
 
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