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How to Set Up IPsec-based VPN with Strongswan on Debian and Ubuntu

strongSwan is an open-source, cross-platform, full-featured and widely-used IPsec-based VPN (Virtual Private Network) implementation that runs on Linux, FreeBSD, OS X, Windows, Android, and iOS. It is primarily a keying daemon that supports the Internet Key Exchange protocols (IKEv1 and IKEv2) to establish security associations (SA) between two peers.