What is the best way for server/vps backup to a remote location

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http://serverfault.com – My situation is this: I have some servers/VPS around the world (primarily web hosting servers). I have some backup stuff from one server to the other it works ok, but these are CPANEL/DirectAdmin rsync backups. But I want to have some backup at home, for the whole system. I have good internet connection, and plenty of drive space. I want some solution that includes rsync, or some other differential method, tar the entire hard disk, or similar methods are not good for me. I also don't want to put the system offline, people need their websites running. I am thinking like mysqldump for al (HowTos)