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The two Cisco routers already have a working physical link.
The second router has the matching tunnel settings prepared.
Choose matching IKE version two encryption, integrity, and key exchange settings.
Add a keyring for the remote peer and enter the lab-only shared key.
Match that peer address in the IKE profile and select pre-shared authentication.
Set the IPsec transform and attach the IKE profile to the IPsec profile.
Apply the protection profile to the tunnel and route the remote loopback through it.
Check that the IKE session is ready, and send traffic to the remote loopback.
Check the IPsec counters for traffic crossing the tunnel.
Change the shared key on one router and check that the protected route stops carrying traffic.
The physical link still reaches the other router.
Restore the matching key and verify that protected traffic passes again.