You can use AppleScript to connect to the VPN services of your choice. We'll use shell functions, which are available from the command line, once they are loaded.
Add the functions below to your ~/.bash_profile or ~/.profile (whatever you use).
You just need to change the name of the VPN connection itself, as it appears under the Network preferences. I used my university VPN here.

You can change the names of the functions as well, if you want to do it for different ones. It might be possible to shorten this using arguments, but it works just fine this way. I tested it on Snow Leopard (but Leopard and Lion should work too).
Once you've added the functions, reload the terminal and call them with vpn-connect and vpn-disconnect, respectively.
function vpn-connect {
/usr/bin/env osascript <<-EOF
tell application "System Events"
tell current location of network preferences
set VPN to service "UniVPN" -- your VPN name here
if exists VPN then connect VPN
end tell
end tell
EOF
}
function vpn-disconnect {
/usr/bin/env osascript <<-EOF
tell application "System Events"
tell current location of network preferences
set VPN to service "UniVPN" -- your VPN name here
if exists VPN then disconnect VPN
end tell
end tell
EOF
}