You need to install a VPN client app to connect to the remote VPN server.
After authorisation, you should be able to establish contact with the internal servers.
Well as I said previously, you could install a VPN client app that establishes communication with the VPN server.
Alternatively, if you want to write an app that behaves as a VPN client, then you need to find a library which does this. A quick Google search for "Android VPN client library" reveals some links, such as the following:
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