diff --git a/README.md b/README.md
index d7e07274..1da64abc 100644
--- a/README.md
+++ b/README.md
@@ -59,6 +59,7 @@ Features:
 * [client-read-aac](examples/client-read-aac/main.go)
 * [client-read-republish](examples/client-read-republish/main.go)
 * [client-publish-h264](examples/client-publish-h264/main.go)
+* [client-publish-pcmu](examples/client-publish-pcmu/main.go)
 * [client-publish-aac](examples/client-publish-aac/main.go)
 * [client-publish-opus](examples/client-publish-opus/main.go)
 * [client-publish-options](examples/client-publish-options/main.go)
diff --git a/examples/client-publish-aac/main.go b/examples/client-publish-aac/main.go
index ebdb6bb6..f434a880 100644
--- a/examples/client-publish-aac/main.go
+++ b/examples/client-publish-aac/main.go
@@ -23,8 +23,7 @@ func main() {
 
 	log.Println("Waiting for a RTP/AAC stream on UDP port 9000 - you can send one with GStreamer:\n" +
 		"gst-launch-1.0 audiotestsrc freq=300 ! audioconvert ! audioresample ! audio/x-raw,rate=48000" +
-		" ! avenc_aac bitrate=128000" +
-		" ! rtpmp4gpay ! udpsink host=127.0.0.1 port=9000")
+		" ! avenc_aac bitrate=128000 ! rtpmp4gpay ! udpsink host=127.0.0.1 port=9000")
 
 	// wait for first packet
 	buf := make([]byte, 2048)
diff --git a/examples/client-publish-opus/main.go b/examples/client-publish-opus/main.go
index 9fe93b9b..54c59325 100644
--- a/examples/client-publish-opus/main.go
+++ b/examples/client-publish-opus/main.go
@@ -23,8 +23,7 @@ func main() {
 
 	log.Println("Waiting for a RTP/Opus stream on UDP port 9000 - you can send one with GStreamer:\n" +
 		"gst-launch-1.0 audiotestsrc freq=300 ! audioconvert ! audioresample ! audio/x-raw,rate=48000" +
-		" ! opusenc" +
-		" ! rtpopuspay ! udpsink host=127.0.0.1 port=9000")
+		" ! opusenc ! rtpopuspay ! udpsink host=127.0.0.1 port=9000")
 
 	// wait for first packet
 	buf := make([]byte, 2048)
diff --git a/examples/client-publish-pcmu/main.go b/examples/client-publish-pcmu/main.go
new file mode 100644
index 00000000..4a90b6ba
--- /dev/null
+++ b/examples/client-publish-pcmu/main.go
@@ -0,0 +1,70 @@
+package main
+
+import (
+	"log"
+	"net"
+
+	"github.com/aler9/gortsplib"
+	"github.com/pion/rtp/v2"
+)
+
+// This example shows how to
+// 1. generate RTP/PCMU packets with GStreamer
+// 2. connect to a RTSP server, announce a PCMU track
+// 3. route the packets from GStreamer to the server
+
+func main() {
+	// open a listener to receive RTP/PCMU packets
+	pc, err := net.ListenPacket("udp", "localhost:9000")
+	if err != nil {
+		panic(err)
+	}
+	defer pc.Close()
+
+	log.Println("Waiting for a RTP/PCMU stream on UDP port 9000 - you can send one with GStreamer:\n" +
+		"gst-launch-1.0 audiotestsrc freq=300 ! audioconvert ! audioresample ! audio/x-raw,rate=8000" +
+		" ! mulawenc ! rtppcmupay ! udpsink host=127.0.0.1 port=9000")
+
+	// wait for first packet
+	buf := make([]byte, 2048)
+	_, _, err = pc.ReadFrom(buf)
+	if err != nil {
+		panic(err)
+	}
+	log.Println("stream connected")
+
+	// create a PCMU track
+	track := gortsplib.NewTrackPCMU()
+
+	c := gortsplib.Client{}
+
+	// connect to the server and start publishing the track
+	err = c.StartPublishing("rtsp://localhost:8554/mystream",
+		gortsplib.Tracks{track})
+	if err != nil {
+		panic(err)
+	}
+	defer c.Close()
+
+	buf = make([]byte, 2048)
+	var pkt rtp.Packet
+	for {
+		// read packets from the source
+		n, _, err := pc.ReadFrom(buf)
+		if err != nil {
+			panic(err)
+		}
+
+		// marshal RTP packets
+		err = pkt.Unmarshal(buf[:n])
+		if err != nil {
+			panic(err)
+		}
+
+		// route RTP packets to the server
+		err = c.WritePacketRTP(0, &pkt)
+		if err != nil {
+			panic(err)
+		}
+	}
+}
diff --git a/track.go b/track.go
index 6cc28ce1..db233fb7 100644
--- a/track.go
+++ b/track.go
@@ -25,30 +25,43 @@ type Track interface {
 }
 
 func newTrackFromMediaDescription(md *psdp.MediaDescription) (Track, error) {
-	if rtpmap, ok := md.Attribute("rtpmap"); ok {
+	rtpmapPart1, payloadType := func() (string, uint8) {
+		rtpmap, ok := md.Attribute("rtpmap")
+		if !ok {
+			return "", 0
+		}
 		rtpmap = strings.TrimSpace(rtpmap)
 
-		if rtpmapParts := strings.Split(rtpmap, " "); len(rtpmapParts) == 2 {
-			tmp, err := strconv.ParseInt(rtpmapParts[0], 10, 64)
-			if err == nil {
-				payloadType := uint8(tmp)
+		rtpmapParts := strings.Split(rtpmap, " ")
+		if len(rtpmapParts) != 2 {
+			return "", 0
+		}
 
-				switch {
-				case md.MediaName.Media == "video":
-					if rtpmapParts[1] == "H264/90000" {
-						return newTrackH264FromMediaDescription(payloadType, md)
-					}
+		tmp, err := strconv.ParseInt(rtpmapParts[0], 10, 64)
+		if err != nil {
+			return "", 0
+		}
+		payloadType := uint8(tmp)
 
-				case md.MediaName.Media == "audio":
-					switch {
-					case strings.HasPrefix(strings.ToLower(rtpmapParts[1]), "mpeg4-generic/"):
-						return newTrackAACFromMediaDescription(payloadType, md)
+		return rtpmapParts[1], payloadType
+	}()
 
-					case strings.HasPrefix(rtpmapParts[1], "opus/"):
-						return newTrackOpusFromMediaDescription(payloadType, rtpmapParts[1], md)
-					}
-				}
-			}
+	switch {
+	case md.MediaName.Media == "video":
+		if rtpmapPart1 == "H264/90000" {
+			return newTrackH264FromMediaDescription(payloadType, md)
+		}
+
+	case md.MediaName.Media == "audio":
+		switch {
+		case len(md.MediaName.Formats) == 1 && md.MediaName.Formats[0] == "0":
+			return newTrackPCMUFromMediaDescription(rtpmapPart1, md)
+
+		case strings.HasPrefix(strings.ToLower(rtpmapPart1), "mpeg4-generic/"):
+			return newTrackAACFromMediaDescription(payloadType, md)
+
+		case strings.HasPrefix(rtpmapPart1, "opus/"):
+			return newTrackOpusFromMediaDescription(payloadType, rtpmapPart1, md)
 		}
 	}
 
diff --git a/track_opus.go b/track_opus.go
index eb14a4f0..225f7c53 100644
--- a/track_opus.go
+++ b/track_opus.go
@@ -32,6 +32,7 @@ func newTrackOpusFromMediaDescription(
 	rtpmapPart1 string,
 	md *psdp.MediaDescription) (*TrackOpus, error) {
 	control := trackFindControl(md)
+
 	tmp := strings.SplitN(rtpmapPart1, "/", 3)
 	if len(tmp) != 3 {
 		return nil, fmt.Errorf("invalid rtpmap (%v)", rtpmapPart1)
diff --git a/track_pcmu.go b/track_pcmu.go
new file mode 100644
index 00000000..f90750e2
--- /dev/null
+++ b/track_pcmu.go
@@ -0,0 +1,79 @@
+package gortsplib
+
+import (
+	"fmt"
+	"strings"
+
+	psdp "github.com/pion/sdp/v3"
+
+	"github.com/aler9/gortsplib/pkg/base"
+)
+
+// TrackPCMU is a PCMU track.
+type TrackPCMU struct {
+	control string
+}
+
+// NewTrackPCMU allocates a TrackPCMU.
+func NewTrackPCMU() *TrackPCMU {
+	return &TrackPCMU{}
+}
+
+func newTrackPCMUFromMediaDescription(rtpmapPart1 string,
+	md *psdp.MediaDescription) (*TrackPCMU, error,
+) {
+	control := trackFindControl(md)
+
+	tmp := strings.Split(rtpmapPart1, "/")
+	if len(tmp) >= 3 && tmp[2] != "1" {
+		return nil, fmt.Errorf("PCMU tracks must have only one channel")
+	}
+
+	return &TrackPCMU{
+		control: control,
+	}, nil
+}
+
+// ClockRate returns the track clock rate.
+func (t *TrackPCMU) ClockRate() int {
+	return 8000
+}
+
+func (t *TrackPCMU) clone() Track {
+	return &TrackPCMU{}
+}
+
+// GetControl returns the track control.
+func (t *TrackPCMU) GetControl() string {
+	return t.control
+}
+
+// SetControl sets the track control.
+func (t *TrackPCMU) SetControl(c string) {
+	t.control = c
+}
+
+func (t *TrackPCMU) url(contentBase *base.URL) (*base.URL, error) {
+	return trackURL(t, contentBase)
+}
+
+// MediaDescription returns the media description in SDP format.
+func (t *TrackPCMU) MediaDescription() *psdp.MediaDescription {
+	return &psdp.MediaDescription{
+		MediaName: psdp.MediaName{
+			Media:   "audio",
+			Protos:  []string{"RTP", "AVP"},
+			Formats: []string{"0"},
+		},
+		Attributes: []psdp.Attribute{
+			{
+				Key:   "rtpmap",
+				Value: "0 PCMU/8000",
+			},
+			{
+				Key:   "control",
+				Value: t.control,
+			},
+		},
+	}
+}
diff --git a/track_test.go b/track_test.go
index 46cf83e2..bfb714a3 100644
--- a/track_test.go
+++ b/track_test.go
@@ -40,11 +40,7 @@ func TestTrackNewFromMediaDescription(t *testing.T) {
 					Formats: []string{"0"},
 				},
 			},
-			&TrackGeneric{
-				clockRate: 8000,
-				media:     "audio",
-				formats:   []string{"0"},
-			},
+			&TrackPCMU{},
 		},
 		{
 			"aac",
diff --git a/tracks_test.go b/tracks_test.go
index 8105a5b2..6194c440 100644
--- a/tracks_test.go
+++ b/tracks_test.go
@@ -76,12 +76,8 @@ func TestTracksReadSkipGenericTracksWithoutClockRate(t *testing.T) {
 			sps:         []byte{0x67, 0x64, 0x00, 0x28, 0xac, 0xb4, 0x03, 0xc0, 0x11, 0x3f, 0x2a},
 			pps:         []byte{0x68, 0xee, 0x01, 0x9e, 0x2c},
 		},
-		&TrackGeneric{
-			control:   "rtsp://10.0.100.50/profile5/media.smp/trackID=a",
-			clockRate: 8000,
-			media:     "audio",
-			formats:   []string{"0"},
-			rtpmap:    "0 PCMU/8000",
+		&TrackPCMU{
+			control: "rtsp://10.0.100.50/profile5/media.smp/trackID=a",
 		},
 	}, tracks)
 }