Your outgoing service must get NATted to the Comcast WAN public IP I assume. So the first question is: do Comcast nat any incoming connections to your ASA WAN ip on subnet X (they should)?
If they do, then you can just set up your VPN as you would in the same way as if you had a public address on the ASA WAN interface. NAT traversal should be assumed, but some versions do not enable by default, so you'll need:
crypto isakmp nat-traversal 20
Then you'll want your external interface to permit isakmp (udp/500) and nat-t (udp/4500) though to the ASA WAN ip address. Or use the "let vpn in" sysopt:
sysopt connection permit-vpn