Note this may be different for different versions of the software on the router but try and find similar fields. The main ones for This tutorial are, Policies, Custom Service Objects and VIP forwarding.
Go to the admin Web UI of the router (10.5.5.1 for the waterford office)
Click Objects → Services → Custom
You should see some already there such as JBOSS etc.
Click New up the top right corner
Give your service a name, say we want Open VPN and are using UDP call it OpenVPN UDP
Service timeout should be use protocol default
Next specify your transport protocol, I recommend only using one of these at a time so only use No.1
In the case of OpenVPN we are using UDP but in most other cases it will probably be TCP
Click TCP on No.1
source Port should auto populate, leave that be, we will now change the Destination Port. Low and high should be the same number
In the case of Open VPN it runs on port 1194 so Low and High on destination port should be 1194. It should look like :

Click OK once you are happy with it
Next from the Starting UI Again find Policies (note policies may be in different places on different routers)
Click From : Untrust To : Trust, then click new
Source : Address Book Entry : click ANY
Destination : Address Book Entry should be the VIP(untrust) in case of having multiple IPs on the router, click multiple and select the IPs you want to allow forwarding to
Service : this should be the service you created so : OpenVPN UDP
Leave everything else default and click ok it should look like :

Now Navigate from the Main Menu to Network → Interfaces → (find the one with the green check) click edit → Up the top click VIP, it should look like :

Click New VIP Service
Fill in the service you want and the internal IP to forward it to
Click OK
Thats it, test it out