Sure.
My ISP has been offering an IPv6 tunnel for a long time now. I finally succeeded in getting IPv6 connectivity through the tunnel working. The direct encapsulation of IPv6 datagrams within IPv4 packets is indicated by IP protocol number 41 (Vista uses Teredo by default).
Tunnel endpoints are determined by using a well-known IPv4 anycast address on the remote side, and embedding IPv4 address information within IPv6 addresses on the local side.
On every client you can do this, using the static LAN address (192.168.x.x). When one of the clients is connected to an external IPv6 site, you can notice a line in the router internet session log:
Local NAT Internet Protocol State Dir Prio Time out192.168.0.2 192.168.1.64 194.109.5.241 41 - Out 32 44
BUT... if you have configured more clients for IPv6 tunneling (which IPv6 allows simply by upping the sequence number of the IPv6 address), you cannot connect to an IPv6 site from both clients.
Looking at the general log I assume the DIR655 only allows one protocol 41 to be passed through at the time, set to 1 specific internal IP. Why? Because the log will tell you that there is already a connection made to that endpoint (my 655 firewall is already set to the least possible impact).
So I am wondering if future firmware will support multiple encapsulation, from multiple clients/local IP's that is. This will IPv6 enable all machines at home, now there's only one capable (His Master's Machine

)
Funchords,
If your ISP does not support IPv6 tunneling, you can have a look here: http://www.sixxs.net/
This is one of the many 'tunnel brokers' which offer you an IPv6 endpoint to get IPv6 connected.
IPv6 is installed by default in Vista, XP needs some more steps to get IPv6 ready.
More info on IPv6 and Vista/Windows: http://en.wikipedia.org/wiki/IPv6