|Yes, if the router has the ability to act as a VPN endpoint built into it. Some do, some don't. The only way to find out if yours does is to read the manual or google the make/model and read the specs on the manufacturer's website.|
If it is capable, then you need to RTFM to figure out how to configure it.
It matters not how straight the gate,
How charged with punishments the scroll,
I am the master of my fate;
I am the captain of my soul.