I wasn’t able to connect to VPN after configure it, the client report “connection to server failed”, after some i discover that the problem was in the port port forward. As reported here http://doc.pfsense.org/index.php/VPN_Capability_IPsec
You may also need to check your WAN rules to ensure that the traffic from the remote pfSense host is allowed. IPsec uses UDP port 500, and protocol ESP (or AH if set that way). If you have trouble establishing a tunnel, check the firewall logs (Status > System Logs, Firewall tab), and if blocked packets are seen, add appropriate rules to allow that traffic.
you need to setup a NAT rule like this one