diff --git a/examples/server-tls.go b/examples/server-tls.go
index 180e805a..1ddb0418 100644
--- a/examples/server-tls.go
+++ b/examples/server-tls.go
@@ -20,8 +20,8 @@ import (
 
 var mutex sync.Mutex
 var publisher *gortsplib.ServerConn
-var sdp []byte
 var readers = make(map[*gortsplib.ServerConn]struct{})
+var sdp []byte
 
 // this is called for each incoming connection
 func handleConn(conn *gortsplib.ServerConn) {
@@ -117,7 +117,7 @@ func handleConn(conn *gortsplib.ServerConn) {
 		}, nil
 	}
 
-	// called after receiving a Frame.
+	// called after receiving a frame.
 	onFrame := func(trackID int, typ gortsplib.StreamType, buf []byte) {
 		mutex.Lock()
 		defer mutex.Unlock()
diff --git a/examples/server-udp.go b/examples/server-udp.go
index efee9fda..4dd2440b 100644
--- a/examples/server-udp.go
+++ b/examples/server-udp.go
@@ -19,8 +19,8 @@ import (
 
 var mutex sync.Mutex
 var publisher *gortsplib.ServerConn
-var sdp []byte
 var readers = make(map[*gortsplib.ServerConn]struct{})
+var sdp []byte
 
 // this is called for each incoming connection
 func handleConn(conn *gortsplib.ServerConn) {
@@ -116,7 +116,7 @@ func handleConn(conn *gortsplib.ServerConn) {
 		}, nil
 	}
 
-	// called after receiving a Frame.
+	// called after receiving a frame.
 	onFrame := func(trackID int, typ gortsplib.StreamType, buf []byte) {
 		mutex.Lock()
 		defer mutex.Unlock()
diff --git a/examples/server.go b/examples/server.go
index 990a4b92..82c99a6f 100644
--- a/examples/server.go
+++ b/examples/server.go
@@ -19,8 +19,8 @@ import (
 
 var mutex sync.Mutex
 var publisher *gortsplib.ServerConn
-var sdp []byte
 var readers = make(map[*gortsplib.ServerConn]struct{})
+var sdp []byte
 
 // this is called for each incoming connection
 func handleConn(conn *gortsplib.ServerConn) {
@@ -116,7 +116,7 @@ func handleConn(conn *gortsplib.ServerConn) {
 		}, nil
 	}
 
-	// called after receiving a Frame.
+	// called after receiving a frame.
 	onFrame := func(trackID int, typ gortsplib.StreamType, buf []byte) {
 		mutex.Lock()
 		defer mutex.Unlock()
diff --git a/serverconf_test.go b/serverconf_test.go
index cd26600f..e8e638f3 100644
--- a/serverconf_test.go
+++ b/serverconf_test.go
@@ -413,6 +413,75 @@ func TestServerTeardownResponse(t *testing.T) {
 	require.Equal(t, io.EOF, err)
 }
 
+func TestServerSetupWithoutTrackID(t *testing.T) {
+	ts, err := newTestServ(nil)
+	require.NoError(t, err)
+	defer ts.close()
+
+	cnt1, err := newContainer("ffmpeg", "publish", []string{
+		"-re",
+		"-stream_loop", "-1",
+		"-i", "emptyvideo.ts",
+		"-c", "copy",
+		"-f", "rtsp",
+		"-rtsp_transport", "tcp",
+		"rtsp://localhost:8554/teststream",
+	})
+	require.NoError(t, err)
+	defer cnt1.close()
+
+	time.Sleep(1 * time.Second)
+
+	conn, err := net.Dial("tcp", "localhost:8554")
+	require.NoError(t, err)
+	defer conn.Close()
+	bconn := bufio.NewReadWriter(bufio.NewReader(conn), bufio.NewWriter(conn))
+
+	err = base.Request{
+		Method: base.Setup,
+		URL:    base.MustParseURL("rtsp://localhost:8554/teststream"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"1"},
+			"Transport": headers.Transport{
+				Protocol: StreamProtocolTCP,
+				Delivery: func() *base.StreamDelivery {
+					v := base.StreamDeliveryUnicast
+					return &v
+				}(),
+				Mode: func() *headers.TransportMode {
+					v := headers.TransportModePlay
+					return &v
+				}(),
+				InterleavedIds: &[2]int{0, 1},
+			}.Write(),
+		},
+	}.Write(bconn.Writer)
+	require.NoError(t, err)
+
+	var res base.Response
+	err = res.Read(bconn.Reader)
+	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
+
+	err = base.Request{
+		Method: base.Play,
+		URL:    base.MustParseURL("rtsp://localhost:8554/teststream"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"2"},
+		},
+	}.Write(bconn.Writer)
+	require.NoError(t, err)
+
+	err = res.Read(bconn.Reader)
+	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
+
+	var fr base.InterleavedFrame
+	fr.Payload = make([]byte, 2048)
+	err = fr.Read(bconn.Reader)
+	require.NoError(t, err)
+}
+
 func TestServerResponseBeforeFrames(t *testing.T) {
 	ts, err := newTestServ(nil)
 	require.NoError(t, err)
diff --git a/serverconn.go b/serverconn.go
index 3b386547..bdbfc892 100644
--- a/serverconn.go
+++ b/serverconn.go
@@ -70,8 +70,10 @@ type ServerConnTrack struct {
 func extractTrackID(pathAndQuery string, mode *headers.TransportMode, trackLen int) (int, error) {
 	if mode == nil || *mode == headers.TransportModePlay {
 		i := strings.Index(pathAndQuery, "/trackID=")
+
+		// URL doesn't contain trackID - we assume it's track 0
 		if i < 0 {
-			return 0, fmt.Errorf("unable to find control attribute (%s)", pathAndQuery)
+			return 0, nil
 		}
 
 		tmp, err := strconv.ParseInt(pathAndQuery[i+len("/trackID="):], 10, 64)
@@ -128,7 +130,7 @@ type ServerConnReadHandlers struct {
 	// if nil, it is generated automatically.
 	OnTeardown func(req *base.Request) (*base.Response, error)
 
-	// called after receiving a Frame.
+	// called after receiving a frame.
 	OnFrame func(trackID int, streamType StreamType, payload []byte)
 }