diff --git a/pkg/base/url.go b/pkg/base/url.go
index c08ce4af..46d1ec4e 100644
--- a/pkg/base/url.go
+++ b/pkg/base/url.go
@@ -3,6 +3,7 @@ package base
 import (
 	"fmt"
 	"net/url"
+	"strings"
 )
 
 // URL is a RTSP URL.
@@ -12,6 +13,9 @@ type URL url.URL
 
 // ParseURL parses a RTSP URL.
 func ParseURL(s string) (*URL, error) {
+	s = strings.ReplaceAll(s, "%25", "%")
+	s = strings.ReplaceAll(s, "%", "%25")
+
 	u, err := url.Parse(s)
 	if err != nil {
 		return nil, err
diff --git a/pkg/base/url_test.go b/pkg/base/url_test.go
index 81074d7f..930e3e43 100644
--- a/pkg/base/url_test.go
+++ b/pkg/base/url_test.go
@@ -14,6 +14,30 @@ func mustParseURL(s string) *URL {
 	return u
 }
 
+func TestURLParse(t *testing.T) {
+	for _, ca := range []struct {
+		name string
+		enc  string
+		u    *URL
+	}{
+		{
+			"ipv6 stateless",
+			`rtsp://[fe80::a8f4:3219:f33e:a072%wl0]:8554/proxied`,
+			&URL{
+				Scheme: "rtsp",
+				Host:   "[fe80::a8f4:3219:f33e:a072%wl0]:8554",
+				Path:   "/proxied",
+			},
+		},
+	} {
+		t.Run(ca.name, func(t *testing.T) {
+			u, err := ParseURL(ca.enc)
+			require.NoError(t, err)
+			require.Equal(t, ca.u, u)
+		})
+	}
+}
+
 func TestURLParseErrors(t *testing.T) {
 	for _, ca := range []struct {
 		name string