If you want to set up a Static IP Tunnel on a Cisco IOS router, you will need the following configuration:
pseudowire-class FOURPLEX
encapsulation l2tpv2
ip local interface Ethernet0/0
!
interface Ethernet0/0
ip address dhcp
!
interface Virtual-PPP1
ip address negotiated
ipv6 address autoconfig
ppp chap hostname username
ppp chap password 0 password
ppp direction callout
ppp ipcp address accept
pseudowire 23.134.76.2 1 encapsulation l2tpv2 pw-class FOURPLEX
!
ip route 0.0.0.0 0.0.0.0 Virtual-PPP1
ip route 23.134.76.2 255.255.255.255 dhcp
!
ipv6 route ::/0 Virtual-PPP1
Note: Replace username and password with your respective L2TP username and password, and replace Ethernet0/0 with the Ethernet interface connected to the public internet.