TrueCrypt

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truecrypt --type normal --size 5G -c truecrypt.tc

This starts interactive mode, following values should work:

1. Filesystem: none
2. Hash algorithm: SHA-1
3. Encryption algorithm: 1

truecrypt /truecrypt.tc
truecrypt -vl
mkfs.ext2 /dev/mapper/truecrypt0
[ -d /mnt/crypt0 ] || mkdir -p /mnt/crypt0
mount /dev/mapper/truecrypt0 /mnt/crypt0

Filesystem encryption