Cisco VPN – Error 51: Unable to communicate with the VPN subsystem

Running Cisco VPN on OS-X I would get “Error 51: Unable to communicate with the VPN subsystem” whenever I would try to connect. I tried rebooting, moving from Wireless to Wired (and rebooting in between), and nothing would work. However,

sudo /System/Library/StartupItems/CiscoVPN/CiscoVPN restart

seems to fix the issue.