This is a tutorial on how to configure the GlobalProtect Gateway on a Palo Alto firewall in order to connect to it from a Linux computer with vpnc.
Short version: Enable IPsec and X-Auth on the Gateway and define a Group Name and Group Password. With this two values (and the gateway address), add a new VPN profile within vpnc on the Linux machine. Login with the already existing credentials.
Long version with screenshots comes here: