Employ cryptographic mechanisms to protect the confidentiality of remote access sessions.
Monarch ISC Guidance
Most VPN solutions will have a FIPS-validated encryption solution available, but you must be sure your VPN connection only uses up-to-date encryption protocols. Check with NIST or the VPN vendor on an annual basis to ensure that nothing has been depreciated.
https://csrc.nist.gov/projects/cryptographic-module-validation-program/validated-modules/search