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A tunnel setup protocol enables tunnel clients to set up IPv6-in-IPv4 networks to permit IPv6 nodes to communicate across the IPv4 network using IPv6 native packets, even if the IPv4 network contains a Network Address Translation function. The tunnel setup protocol uses a control channel to negotiate tunnel configuration parameters and exchange tunnel configuration data between a tunnel client and a tunnel broker server. The tunnel setup is automatic, and migration to IPv6 is ameliorated.