On the vpn box with static ip in our colo:

ike passive esp from 192.168.10.0/24 to 192.168.1.0/24 local <static_ip_colo> peer <dynip_has_to_come_here>
ike passive esp from <static_ip_colo> to 192.168.1.0/24 local <static_ip_colo> peer <dynip_has_to_come_here>
ike passive esp from <static_ip_colo to <dynip_has_to_come_here>

on the box at the home location with dynip

#my_info
my_gw = "192.168.0.200"
my_net = "192.168.1.0/24"

colo_gw = <static_ip_colo>
colo_net = "192.168.10.0/24"

#ipsec with colo
ike esp from $my_net to $colo_net local $my_gw peer $colo_gw