Getting Started
As root, run the following command:
openconnect --script /etc/vpnc/vpnc-script https://vpn.mycompany.com/
You can ignore anything you see in the compatibility page about needing to patch OpenSSL so that DTLS works — you don't really need it, although it will make your connections much faster if you're experiencing packet loss between you and the VPN server. But you can worry about that later.