I also had this issue, but here was my solution:
create a script as follows
[code]
#!/bin/bash
/System/Library/StartupItems/CiscoVPN/CiscoVPN restart
[/code]

Save it and make it executable

Run it from the command and it will restart the vpn services. works every time for me now, i don't even bother trying to connect anymore without running this script first. If i was smart, i would write an applescript/automator action that i could put in the dock instead of the cisco icon that would perform the above script, wait and then launch the vpn client.... but that would be too easy i guess

Why even make a script? Either:

[code]sudo /System/Library/StartupItems/CiscoVPN/CiscoVPN restart[/code]

or alias it in your .cshrc or .bashrc file

[code]alias restartVPN 'sudo /System/Library/StartupItems/CiscoVPN/CiscoVPN restart'[/code]

if you make it into a script, you have less to type!