pfsene with layer 3 switch

Hello,

I need some guides on how to set this up properly.

I am new to pfsense.

This is my setup: 

Internet-->Modem-->Router (pfsense will replace this)-->Layer 3 switch(cisco-sg500-28)-->2 cisco layer 2 switch.

L3 switch - 5 vlans (some vlans have dhcp)

Connection: Internet-->Router: 192.168.100.2-->L3 Switch: 192.168.100.1

The connection between the router and the L3 switch is on a vlan100.

I want to replace the router with the pfsene box and also manage network activity. 

I want to be able to vpn to the network and access all the other networks on L3 network. I am not sure how to set this up, any guidance would be helpful.