diff --git a/rtpsender.go b/rtpsender.go
index e8f0a2f1..8cfe97d3 100644
--- a/rtpsender.go
+++ b/rtpsender.go
@@ -13,13 +13,16 @@ import (
 
 // RTPSender allows an application to control how a given Track is encoded and transmitted to a remote peer
 type RTPSender struct {
-	track          TrackLocal
+	track TrackLocal
+
 	rtcpReadStream *srtp.ReadStreamSRTCP
+	rtpWriteStream *srtp.WriteStreamSRTP
 
 	transport *DTLSTransport
 
 	payloadType PayloadType
 	ssrc        SSRC
+	codec       RTPCodecParameters
 
 	// nolint:godox
 	// TODO(sgotti) remove this when in future we'll avoid replacing
@@ -86,10 +89,39 @@ func (r *RTPSender) Track() TrackLocal {
 	return r.track
 }
 
-func (r *RTPSender) setTrack(track TrackLocal) {
+// ReplaceTrack replaces the track currently being used as the sender's source with a new TrackLocal.
+// The new track must be of the same media kind (audio, video, etc) and switching the track should not
+// require negotiation.
+func (r *RTPSender) ReplaceTrack(track TrackLocal) error {
 	r.mu.Lock()
 	defer r.mu.Unlock()
+
+	if r.hasSent() {
+		if err := r.track.Unbind(TrackLocalContext{
+			id:          r.id,
+			ssrc:        r.ssrc,
+			writeStream: r.rtpWriteStream,
+		}); err != nil {
+			return err
+		}
+	}
+
+	if !r.hasSent() || track == nil {
+		r.track = track
+		return nil
+	}
+
+	if _, err := track.Bind(TrackLocalContext{
+		id:          r.id,
+		codecs:      []RTPCodecParameters{r.codec},
+		ssrc:        r.ssrc,
+		writeStream: r.rtpWriteStream,
+	}); err != nil {
+		return err
+	}
+
 	r.track = track
+	return nil
 }
 
 // Send Attempts to set the parameters controlling the sending of media.
@@ -116,16 +148,15 @@ func (r *RTPSender) Send(parameters RTPSendParameters) error {
 		return err
 	}
 
-	rtpWriteStream, err := srtpSession.OpenWriteStream()
-	if err != nil {
+	if r.rtpWriteStream, err = srtpSession.OpenWriteStream(); err != nil {
 		return err
 	}
 
-	if err = r.track.Bind(TrackLocalContext{
+	if r.codec, err = r.track.Bind(TrackLocalContext{
 		id:          r.id,
 		codecs:      r.api.mediaEngine.getCodecsByKind(r.track.Kind()),
 		ssrc:        parameters.Encodings.SSRC,
-		writeStream: rtpWriteStream,
+		writeStream: r.rtpWriteStream,
 	}); err != nil {
 		return err
 	}
@@ -150,14 +181,6 @@ func (r *RTPSender) Stop() error {
 		return nil
 	}
 
-	if err := r.track.Unbind(TrackLocalContext{
-		id:     r.id,
-		codecs: r.api.mediaEngine.getCodecsByKind(r.track.Kind()),
-		ssrc:   r.ssrc,
-	}); err != nil {
-		return err
-	}
-
 	return r.rtcpReadStream.Close()
 }
 
diff --git a/rtpsender_test.go b/rtpsender_test.go
new file mode 100644
index 00000000..99a13d42
--- /dev/null
+++ b/rtpsender_test.go
@@ -0,0 +1,136 @@
+// +build !js
+
+package webrtc
+
+import (
+	"bytes"
+	"context"
+	"errors"
+	"io"
+	"sync/atomic"
+	"testing"
+	"time"
+
+	"github.com/pion/transport/test"
+	"github.com/pion/webrtc/v3/pkg/media"
+	"github.com/stretchr/testify/assert"
+)
+
+func Test_RTPSender_ReplaceTrack(t *testing.T) {
+	lim := test.TimeOut(time.Second * 10)
+	defer lim.Stop()
+
+	report := test.CheckRoutines(t)
+	defer report()
+
+	t.Run("Basic", func(t *testing.T) {
+		s := SettingEngine{}
+		s.DisableSRTPReplayProtection(true)
+
+		m := &MediaEngine{}
+		assert.NoError(t, m.RegisterDefaultCodecs())
+
+		sender, receiver, err := NewAPI(WithMediaEngine(m), WithSettingEngine(s)).newPair(Configuration{})
+		assert.NoError(t, err)
+
+		trackA, err := NewTrackLocalStaticSample(RTPCodecCapability{MimeType: "video/vp8"}, "video", "pion")
+		assert.NoError(t, err)
+
+		trackB, err := NewTrackLocalStaticSample(RTPCodecCapability{MimeType: "video/vp8"}, "video", "pion")
+		assert.NoError(t, err)
+
+		rtpSender, err := sender.AddTrack(trackA)
+		assert.NoError(t, err)
+
+		seenPacketA, seenPacketACancel := context.WithCancel(context.Background())
+		seenPacketB, seenPacketBCancel := context.WithCancel(context.Background())
+
+		var onTrackCount uint64
+		receiver.OnTrack(func(track *TrackRemote, _ *RTPReceiver) {
+			assert.Equal(t, uint64(1), atomic.AddUint64(&onTrackCount, 1))
+
+			for {
+				pkt, err := track.ReadRTP()
+				if err != nil {
+					assert.True(t, errors.Is(io.EOF, err))
+					return
+				}
+
+				switch {
+				case bytes.Equal(pkt.Payload, []byte{0x10, 0xAA}):
+					seenPacketACancel()
+				case bytes.Equal(pkt.Payload, []byte{0x10, 0xBB}):
+					seenPacketBCancel()
+				}
+			}
+		})
+
+		assert.NoError(t, signalPair(sender, receiver))
+
+		// Block Until packet with 0xAA has been seen
+		func() {
+			for range time.Tick(time.Millisecond * 20) {
+				select {
+				case <-seenPacketA.Done():
+					return
+				default:
+					assert.NoError(t, trackA.WriteSample(media.Sample{Data: []byte{0xAA}, Duration: time.Second}))
+				}
+			}
+		}()
+
+		assert.NoError(t, rtpSender.ReplaceTrack(trackB))
+
+		// Block Until packet with 0xBB has been seen
+		func() {
+			for range time.Tick(time.Millisecond * 20) {
+				select {
+				case <-seenPacketB.Done():
+					return
+				default:
+					assert.NoError(t, trackB.WriteSample(media.Sample{Data: []byte{0xBB}, Duration: time.Second}))
+				}
+			}
+		}()
+
+		assert.NoError(t, sender.Close())
+		assert.NoError(t, receiver.Close())
+	})
+
+	t.Run("Invalid Codec Change", func(t *testing.T) {
+		sender, receiver, err := newPair()
+		assert.NoError(t, err)
+
+		trackA, err := NewTrackLocalStaticSample(RTPCodecCapability{MimeType: "video/vp8"}, "video", "pion")
+		assert.NoError(t, err)
+
+		trackB, err := NewTrackLocalStaticSample(RTPCodecCapability{MimeType: "video/h264", SDPFmtpLine: "level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f"}, "video", "pion")
+		assert.NoError(t, err)
+
+		rtpSender, err := sender.AddTrack(trackA)
+		assert.NoError(t, err)
+
+		assert.NoError(t, signalPair(sender, receiver))
+
+		seenPacket, seenPacketCancel := context.WithCancel(context.Background())
+		receiver.OnTrack(func(_ *TrackRemote, _ *RTPReceiver) {
+			seenPacketCancel()
+		})
+
+		func() {
+			for range time.Tick(time.Millisecond * 20) {
+				select {
+				case <-seenPacket.Done():
+					return
+				default:
+					assert.NoError(t, trackA.WriteSample(media.Sample{Data: []byte{0xAA}, Duration: time.Second}))
+				}
+			}
+		}()
+
+		assert.True(t, errors.Is(rtpSender.ReplaceTrack(trackB), ErrUnsupportedCodec))
+
+		assert.NoError(t, sender.Close())
+		assert.NoError(t, receiver.Close())
+	})
+}
diff --git a/rtptransceiver.go b/rtptransceiver.go
index b5b8fd8e..b0c1f03d 100644
--- a/rtptransceiver.go
+++ b/rtptransceiver.go
@@ -101,7 +101,9 @@ func (t *RTPTransceiver) setDirection(d RTPTransceiverDirection) {
 }
 
 func (t *RTPTransceiver) setSendingTrack(track TrackLocal) error {
-	t.Sender().setTrack(track)
+	if err := t.Sender().ReplaceTrack(track); err != nil {
+		return err
+	}
 	if track == nil {
 		t.setSender(nil)
 	}
diff --git a/track_local.go b/track_local.go
index 53913370..1b232b95 100644
--- a/track_local.go
+++ b/track_local.go
@@ -49,7 +49,7 @@ type TrackLocal interface {
 	// Bind should implement the way how the media data flows from the Track to the PeerConnection
 	// This will be called internally after signaling is complete and the list of available
 	// codecs has been determined
-	Bind(TrackLocalContext) error
+	Bind(TrackLocalContext) (RTPCodecParameters, error)
 
 	// Unbind should implement the teardown logic when the track is no longer needed. This happens
 	// because a track has been stopped.
diff --git a/track_local_static.go b/track_local_static.go
index 0ed8fc67..297f256c 100644
--- a/track_local_static.go
+++ b/track_local_static.go
@@ -43,7 +43,7 @@ func NewTrackLocalStaticRTP(c RTPCodecCapability, id, streamID string) (*TrackLo
 // Bind is called by the PeerConnection after negotiation is complete
 // This asserts that the code requested is supported by the remote peer.
 // If so it setups all the state (SSRC and PayloadType) to have a call
-func (s *TrackLocalStaticRTP) Bind(t TrackLocalContext) error {
+func (s *TrackLocalStaticRTP) Bind(t TrackLocalContext) (RTPCodecParameters, error) {
 	s.mu.Lock()
 	defer s.mu.Unlock()
 
@@ -55,10 +55,10 @@ func (s *TrackLocalStaticRTP) Bind(t TrackLocalContext) error {
 			writeStream: t.WriteStream(),
 			id:          t.ID(),
 		})
-		return nil
+		return codec, nil
 	}
 
-	return ErrUnsupportedCodec
+	return RTPCodecParameters{}, ErrUnsupportedCodec
 }
 
 // Unbind implements the teardown logic when the track is no longer needed. This happens
@@ -165,9 +165,10 @@ func (s *TrackLocalStaticSample) Kind() RTPCodecType { return s.rtpTrack.Kind()
 // Bind is called by the PeerConnection after negotiation is complete
 // This asserts that the code requested is supported by the remote peer.
 // If so it setups all the state (SSRC and PayloadType) to have a call
-func (s *TrackLocalStaticSample) Bind(t TrackLocalContext) error {
-	if err := s.rtpTrack.Bind(t); err != nil {
-		return err
+func (s *TrackLocalStaticSample) Bind(t TrackLocalContext) (RTPCodecParameters, error) {
+	codec, err := s.rtpTrack.Bind(t)
+	if err != nil {
+		return codec, err
 	}
 
 	s.rtpTrack.mu.Lock()
@@ -175,18 +176,12 @@ func (s *TrackLocalStaticSample) Bind(t TrackLocalContext) error {
 
 	// We only need one packetizer
 	if s.packetizer != nil {
-		return nil
+		return codec, nil
 	}
 
-	parameters := RTPCodecParameters{RTPCodecCapability: s.rtpTrack.codec}
-	codec, err := codecParametersFuzzySearch(parameters, t.CodecParameters())
+	payloader, err := payloaderForCodec(codec.RTPCodecCapability)
 	if err != nil {
-		return err
-	}
-
-	payloader, err := payloaderForCodec(s.rtpTrack.codec)
-	if err != nil {
-		return err
+		return codec, err
 	}
 
 	s.packetizer = rtp.NewPacketizer(
@@ -198,7 +193,7 @@ func (s *TrackLocalStaticSample) Bind(t TrackLocalContext) error {
 		codec.ClockRate,
 	)
 	s.clockRate = float64(codec.RTPCodecCapability.ClockRate)
-	return nil
+	return codec, nil
 }
 
 // Unbind implements the teardown logic when the track is no longer needed. This happens