diff --git a/emlid/discovery.go b/emlid/discovery.go
new file mode 100644
index 0000000..fba711e
--- /dev/null
+++ b/emlid/discovery.go
@@ -0,0 +1,70 @@
+package emlid
+
+import (
+	"net"
+	"sync"
+	"time"
+
+	"github.com/oleksandr/bonjour"
+)
+
+// Service is a ReachRS service discovered via MDNS-SD
+type Service struct {
+	Name   string
+	AddrV4 net.IP
+	Port   int
+}
+
+// Discover tries to discover ReachRS services on the local network via MDNS-SD
+func Discover(timeout time.Duration) ([]Service, error) {
+
+	var wg sync.WaitGroup
+
+	wg.Add(1)
+
+	resolver, err := bonjour.NewResolver(nil)
+	if err != nil {
+		return nil, err
+	}
+
+	services := make([]Service, 0)
+	entries := make(chan *bonjour.ServiceEntry)
+	timer := time.NewTimer(timeout)
+	defer timer.Stop()
+
+	stop := func() {
+		resolver.Exit <- true
+		wg.Done()
+	}
+
+	go func() {
+		for {
+			select {
+
+			case e, ok := <-entries:
+				if !ok {
+					stop()
+					return
+				}
+				services = append(services, Service{
+					Name:   e.Instance,
+					AddrV4: e.AddrIPv4,
+					Port:   e.Port,
+				})
+
+			case <-timer.C:
+				stop()
+				return
+			}
+		}
+	}()
+
+	if err = resolver.Browse("_reach._tcp", ".local", entries); err != nil {
+		return nil, err
+	}
+
+	wg.Wait()
+
+	return services, nil
+
+}
diff --git a/emlid/discovery_test.go b/emlid/discovery_test.go
new file mode 100644
index 0000000..33fe64c
--- /dev/null
+++ b/emlid/discovery_test.go
@@ -0,0 +1,29 @@
+package emlid
+
+import (
+	"testing"
+	"time"
+)
+
+func TestDiscovery(t *testing.T) {
+
+	if !*runDiscoveryIntegrationTests {
+		t.Skip("To run this test, use: go test -discovery-integration")
+	}
+
+	services, err := Discover(3 * time.Second)
+	if err != nil {
+		t.Fatal(err)
+	}
+
+	if g, e := len(services), 1; g != e {
+		t.Fatalf("len(services): got '%d', expected '%d'", g, e)
+	}
+
+	s := services[0]
+
+	if g, e := s.Name, "reach"; g != e {
+		t.Errorf("services[0].Name: got '%s', expected '%s'", g, e)
+	}
+
+}
diff --git a/emlid/option.go b/emlid/option.go
index bb3db33..25d7f18 100644
--- a/emlid/option.go
+++ b/emlid/option.go
@@ -34,6 +34,13 @@ func WithEndpoint(host string, port int) OptionFunc {
 	}
 }
 
+// WithService configures the client to target the given ReachRS service
+func WithService(service Service) OptionFunc {
+	return func(opts *Options) {
+		opts.Endpoint = gosocketio.GetUrl(service.AddrV4.String(), service.Port, false)
+	}
+}
+
 // WithPingInterval configures the client to use the given ping interval
 func WithPingInterval(interval time.Duration) OptionFunc {
 	return func(opts *Options) {
diff --git a/emlid/util_test.go b/emlid/util_test.go
new file mode 100644
index 0000000..77a597c
--- /dev/null
+++ b/emlid/util_test.go
@@ -0,0 +1,8 @@
+package emlid
+
+import "flag"
+
+var runDiscoveryIntegrationTests = flag.Bool(
+	"discovery-integration", false,
+	"Run the 'Discovery' integration tests (in addition to the unit tests)",
+)
diff --git a/go.mod b/go.mod
index 066ee89..c1cbc6b 100644
--- a/go.mod
+++ b/go.mod
@@ -6,10 +6,15 @@ require (
 	github.com/davecgh/go-spew v1.1.1 // indirect
 	github.com/go-chi/chi v3.3.3+incompatible
 	github.com/gorilla/websocket v1.4.0 // indirect
+	github.com/miekg/dns v1.0.12 // indirect
 	github.com/mitchellh/mapstructure v1.0.0
+	github.com/oleksandr/bonjour v0.0.0-20160508152359-5dcf00d8b228
 	github.com/pkg/errors v0.8.0
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/stretchr/testify v1.2.2 // indirect
+	golang.org/x/crypto v0.0.0-20181001203147-e3636079e1a4 // indirect
 	golang.org/x/net v0.0.0-20180911220305-26e67e76b6c3 // indirect
+	golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f // indirect
+	golang.org/x/sys v0.0.0-20181005133103-4497e2df6f9e // indirect
 	golang.org/x/text v0.3.0 // indirect
 )
diff --git a/go.sum b/go.sum
index eb81ba4..70906a3 100644
--- a/go.sum
+++ b/go.sum
@@ -8,15 +8,25 @@ github.com/go-chi/chi v3.3.3+incompatible h1:KHkmBEMNkwKuK4FdQL7N2wOeB9jnIx7jR5w
 github.com/go-chi/chi v3.3.3+incompatible/go.mod h1:eB3wogJHnLi3x/kFX2A+IbTBlXxmMeXJVKy9tTv1XzQ=
 github.com/gorilla/websocket v1.4.0 h1:WDFjx/TMzVgy9VdMMQi2K2Emtwi2QcUQsztZ/zLaH/Q=
 github.com/gorilla/websocket v1.4.0/go.mod h1:E7qHFY5m1UJ88s3WnNqhKjPHQ0heANvMoAMk2YaljkQ=
+github.com/miekg/dns v1.0.12 h1:814rTNaw7Q7pGncpSEDT06YS8rdGmpUEnKgpQzctJsk=
+github.com/miekg/dns v1.0.12/go.mod h1:W1PPwlIAgtquWBMBEV9nkV9Cazfe8ScdGz/Lj7v3Nrg=
 github.com/mitchellh/mapstructure v1.0.0 h1:vVpGvMXJPqSDh2VYHF7gsfQj8Ncx+Xw5Y1KHeTRY+7I=
 github.com/mitchellh/mapstructure v1.0.0/go.mod h1:FVVH3fgwuzCH5S8UJGiWEs2h04kUh9fWfEaFds41c1Y=
+github.com/oleksandr/bonjour v0.0.0-20160508152359-5dcf00d8b228 h1:Cvfd2dOlXIPTeEkOT/h8PyK4phBngOM4at9/jlgy7d4=
+github.com/oleksandr/bonjour v0.0.0-20160508152359-5dcf00d8b228/go.mod h1:MGuVJ1+5TX1SCoO2Sx0eAnjpdRytYla2uC1YIZfkC9c=
 github.com/pkg/errors v0.8.0 h1:WdK/asTD0HN+q6hsWO3/vpuAkAr+tw6aNJNDFFf0+qw=
 github.com/pkg/errors v0.8.0/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/stretchr/testify v1.2.2 h1:bSDNvY7ZPG5RlJ8otE/7V6gMiyenm9RtJ7IUVIAoJ1w=
 github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
+golang.org/x/crypto v0.0.0-20181001203147-e3636079e1a4 h1:Vk3wNqEZwyGyei9yq5ekj7frek2u7HUfffJ1/opblzc=
+golang.org/x/crypto v0.0.0-20181001203147-e3636079e1a4/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/net v0.0.0-20180911220305-26e67e76b6c3 h1:czFLhve3vsQetD6JOJ8NZZvGQIXlnN3/yXxbT6/awxI=
 golang.org/x/net v0.0.0-20180911220305-26e67e76b6c3/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
+golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f h1:wMNYb4v58l5UBM7MYRLPG6ZhfOqbKu7X5eyFl8ZhKvA=
+golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sys v0.0.0-20181005133103-4497e2df6f9e h1:EfdBzeKbFSvOjoIqSZcfS8wp0FBLokGBEs9lz1OtSg0=
+golang.org/x/sys v0.0.0-20181005133103-4497e2df6f9e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/text v0.3.0 h1:g61tztE5qeGQ89tm6NTjjM9VPIm088od1l6aSorWRWg=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=