How do I set up a VPN on a Cisco ASA 5510 where the remote node is on a dynamic IP address?

Some VPN devices don't have a problem with this, but the Cisco ASA device seems to demand that a fixed IP address be ociated with a VPN endpoint. I need to VPN to two locations whose IPs may change, but they use a dynamic DNS service to map a static FQDN to their current IP address. I can't figure out how to get the Cisco to use that FQDN (office1.mydomain.com, e.g.) instead of an IP address. Cisco appears to support this via some kind of "dynamic map" but I cannot figure out how to make it work. Any help or configuration examples would be much appreciated.