First you need to clarify a few things;
Is the DG834 in bridge mode or router mode? You say modem which then implies there is either a PC or router behind this.
If it's in router mode, you need to make sure the firmware is up to date as only the newer firmware caters for VPN connections. As far as I can tell, the only type of VPN you can set-up site-to-site is one made by using the IPSec protocol suite. The DG834 allows PPTP and L2TP pass-through VPNs but not as S2S.
So we're stuck with IPSec. First up, download this document and get the basic drift of what the netgear wants to do (and more importantly, what it can ONLY do);
http://kbserver.netgear.com/kb_web_files/n101569.asp
Then hunt around the forums and wiki for the way Mikrotik handles IPSec. I can't say I've mastered it yet but by the time you've done all this, I may well have.
BTW, this site has some interesting information WRT the netgear;
http://www.vpncasestudy.com/index.html