Mobile IPv6 is thought to be dominant protocol for providing mobility. In the near future, most portable communication devices will deploy Mobile IPv6 mechanism. Our main concerns are that such mobile devices are going to access to their corporate network such as VPN. In this paper, we propose the efficient communication for IPsec-VPN access of mobile nodes. We consider two cases. One is the case that home agent exists in VPN domain and the other is the case that home agent is away from VPN domain. In both cases, our proposal reduces the total signals to access to VPN. Nevertheless, the security is not compromised. KEYWORDS Mobile IPv6, VPN Access, IPsec Tunnel, IKEv2 Configuration Payload, Binding Update.