Establishing IPsec

Hello, I'm trying to set up a lab, and I want to inquire if it's possible to do this. I have an FG40 that is remote. From my home, I set up a FortiGate virtual to establish an IPsec connection. However, I've read in several places that both FortiGates must first have a conversation for the tunnel to come up. If so, how is it possible to establish that policy so that both FortiGates can see each other and share the connection? I hope I was clear.