diff --git a/README.md b/README.md
index 2b4a7c32..b3fdb9e3 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ Features:
   * Publish tracks to servers with UDP or TCP
   * Pause reading or publishing without disconnecting from the server
 * Server
-  * Handle server-side connections
+  * Build servers and handle publishers and readers
 
 ## Examples
 
@@ -28,6 +28,7 @@ Features:
 * [client-publish](examples/client-publish.go)
 * [client-publish-options](examples/client-publish-options.go)
 * [client-publish-pause](examples/client-publish-pause.go)
+* [server](examples/server.go)
 
 ## Documentation
 
diff --git a/examples/server.go b/examples/server.go
new file mode 100644
index 00000000..6bc97c9d
--- /dev/null
+++ b/examples/server.go
@@ -0,0 +1,61 @@
+// +build ignore
+
+package main
+
+import (
+	"fmt"
+	"strings"
+
+	"github.com/aler9/gortsplib"
+	"github.com/aler9/gortsplib/pkg/base"
+)
+
+type serverConnHandler struct {
+}
+
+func (sc *serverConnHandler) OnClose(err error) {
+}
+
+func (sc *serverConnHandler) OnRequest(req *base.Request) (*base.Response, error) {
+	switch req.Method {
+	case base.Options:
+		return &base.Response{
+			StatusCode: base.StatusOK,
+			Header: base.Header{
+				"Public": base.HeaderValue{strings.Join([]string{
+					string(base.Describe),
+					string(base.Announce),
+					string(base.Setup),
+					string(base.Play),
+					string(base.Record),
+					string(base.Pause),
+					string(base.Teardown),
+				}, ", ")},
+			},
+		}, nil
+
+	case base.Teardown:
+		return &base.Response{
+			StatusCode: base.StatusOK,
+			Header:     base.Header{},
+		}, fmt.Errorf("terminated")
+	}
+
+	return &base.Response{
+		StatusCode: base.StatusBadRequest,
+		Header:     base.Header{},
+	}, fmt.Errorf("unhandled method: %v", req.Method)
+}
+
+func (sc *serverConnHandler) OnFrame(id int, typ gortsplib.StreamType, buf []byte) {
+}
+
+func main() {
+	// create server
+	gortsplib.Serve(":8554", func(c *gortsplib.ServerConn) gortsplib.ServerConnHandler {
+		return &serverConnHandler{}
+	})
+
+	// wait forever
+	select {}
+}
diff --git a/server.go b/server.go
index b9a5521d..61dfda9c 100644
--- a/server.go
+++ b/server.go
@@ -3,33 +3,27 @@ package gortsplib
 import (
 	"bufio"
 	"net"
+	"sync"
 	"time"
-
-	"github.com/aler9/gortsplib/pkg/base"
-	"github.com/aler9/gortsplib/pkg/multibuffer"
 )
 
-// ServerHandler is the interface that must be implemented to use a Server.
-type ServerHandler interface {
-}
-
 // Server is a RTSP server.
 type Server struct {
 	conf     ServerConf
 	listener *net.TCPListener
+	handler  func(sc *ServerConn) ServerConnHandler
+	wg       sync.WaitGroup
 }
 
 // Close closes the server.
 func (s *Server) Close() error {
-	return s.listener.Close()
+	s.listener.Close()
+	s.wg.Wait()
+	return nil
 }
 
-// Accept accepts a connection.
-func (s *Server) Accept() (*ServerConn, error) {
-	nconn, err := s.listener.Accept()
-	if err != nil {
-		return nil, err
-	}
+func (s *Server) run() {
+	defer s.wg.Done()
 
 	if s.conf.ReadTimeout == 0 {
 		s.conf.ReadTimeout = 10 * time.Second
@@ -41,15 +35,26 @@ func (s *Server) Accept() (*ServerConn, error) {
 		s.conf.ReadBufferCount = 1
 	}
 
-	sc := &ServerConn{
-		conf:           s.conf,
-		nconn:          nconn,
-		br:             bufio.NewReaderSize(nconn, serverReadBufferSize),
-		bw:             bufio.NewWriterSize(nconn, serverWriteBufferSize),
-		request:        &base.Request{},
-		frame:          &base.InterleavedFrame{},
-		tcpFrameBuffer: multibuffer.New(s.conf.ReadBufferCount, clientTCPFrameReadBufferSize),
-	}
+	for {
+		nconn, err := s.listener.Accept()
+		if err != nil {
+			break
+		}
 
-	return sc, nil
+		sc := &ServerConn{
+			s:     s,
+			nconn: nconn,
+			br:    bufio.NewReaderSize(nconn, serverReadBufferSize),
+			bw:    bufio.NewWriterSize(nconn, serverWriteBufferSize),
+		}
+
+		sc.connHandler = s.handler(sc)
+		if sc.connHandler == nil {
+			nconn.Close()
+			continue
+		}
+
+		s.wg.Add(1)
+		go sc.run()
+	}
 }
diff --git a/serverconf.go b/serverconf.go
index 6f69d226..1cf08dff 100644
--- a/serverconf.go
+++ b/serverconf.go
@@ -9,7 +9,7 @@ import (
 var DefaultServerConf = ServerConf{}
 
 // Serve starts a server on the given address.
-func Serve(address string, handler ServerHandler) (*Server, error) {
+func Serve(address string, handler func(sc *ServerConn) ServerConnHandler) (*Server, error) {
 	return DefaultServerConf.Serve(address, handler)
 }
 
@@ -36,7 +36,7 @@ type ServerConf struct {
 }
 
 // Serve starts a server on the given address.
-func (c ServerConf) Serve(address string, handler ServerHandler) (*Server, error) {
+func (c ServerConf) Serve(address string, handler func(sc *ServerConn) ServerConnHandler) (*Server, error) {
 	if c.ReadTimeout == 0 {
 		c.ReadTimeout = 10 * time.Second
 	}
@@ -63,7 +63,11 @@ func (c ServerConf) Serve(address string, handler ServerHandler) (*Server, error
 	s := &Server{
 		conf:     c,
 		listener: listener,
+		handler:  handler,
 	}
 
+	s.wg.Add(1)
+	go s.run()
+
 	return s, nil
 }
diff --git a/serverconn.go b/serverconn.go
index 61b11e66..6039bd02 100644
--- a/serverconn.go
+++ b/serverconn.go
@@ -2,7 +2,9 @@ package gortsplib
 
 import (
 	"bufio"
+	"fmt"
 	"net"
+	"sync"
 	"time"
 
 	"github.com/aler9/gortsplib/pkg/base"
@@ -14,63 +16,137 @@ const (
 	serverWriteBufferSize = 4096
 )
 
+// ServerConnHandler is the interface that must be implemented to use a ServerConn.
+type ServerConnHandler interface {
+	OnClose(err error)
+	OnRequest(req *base.Request) (*base.Response, error)
+	OnFrame(rackID int, streamType StreamType, content []byte)
+}
+
 // ServerConn is a server-side RTSP connection.
 type ServerConn struct {
-	conf           ServerConf
-	nconn          net.Conn
-	br             *bufio.Reader
-	bw             *bufio.Writer
-	request        *base.Request
-	frame          *base.InterleavedFrame
-	tcpFrameBuffer *multibuffer.MultiBuffer
+	s           *Server
+	nconn       net.Conn
+	connHandler ServerConnHandler
+	br          *bufio.Reader
+	bw          *bufio.Writer
+	mutex       sync.Mutex
+	frames      bool
+	readTimeout bool
 }
 
 // Close closes all the ServerConn resources.
-func (s *ServerConn) Close() error {
-	return s.nconn.Close()
+func (sc *ServerConn) Close() error {
+	return sc.nconn.Close()
 }
 
 // NetConn returns the underlying net.Conn.
-func (s *ServerConn) NetConn() net.Conn {
-	return s.nconn
+func (sc *ServerConn) NetConn() net.Conn {
+	return sc.nconn
 }
 
-// ReadRequest reads a Request.
-func (s *ServerConn) ReadRequest() (*base.Request, error) {
-	s.nconn.SetReadDeadline(time.Time{}) // disable deadline
-	err := s.request.Read(s.br)
-	if err != nil {
-		return nil, err
+// EnableFrames allows or denies receiving frames.
+func (sc *ServerConn) EnableFrames(v bool) {
+	sc.frames = v
+}
+
+// EnableReadTimeout sets or removes the timeout on incoming packets.
+func (sc *ServerConn) EnableReadTimeout(v bool) {
+	sc.readTimeout = v
+}
+
+func (sc *ServerConn) run() {
+	defer sc.s.wg.Done()
+
+	var req base.Request
+	var frame base.InterleavedFrame
+	tcpFrameBuffer := multibuffer.New(sc.s.conf.ReadBufferCount, clientTCPFrameReadBufferSize)
+	var errRet error
+
+outer:
+	for {
+		if sc.readTimeout {
+			sc.nconn.SetReadDeadline(time.Now().Add(sc.s.conf.ReadTimeout))
+		} else {
+			sc.nconn.SetReadDeadline(time.Time{})
+		}
+
+		if sc.frames {
+			frame.Content = tcpFrameBuffer.Next()
+			what, err := base.ReadInterleavedFrameOrRequest(&frame, &req, sc.br)
+			if err != nil {
+				errRet = err
+				break outer
+			}
+
+			switch what.(type) {
+			case *base.InterleavedFrame:
+				sc.connHandler.OnFrame(frame.TrackID, frame.StreamType, frame.Content)
+
+			case *base.Request:
+				err := sc.handleRequest(&req)
+				if err != nil {
+					errRet = err
+					break outer
+				}
+			}
+
+		} else {
+			err := req.Read(sc.br)
+			if err != nil {
+				errRet = err
+				break outer
+			}
+
+			err = sc.handleRequest(&req)
+			if err != nil {
+				errRet = err
+				break outer
+			}
+		}
 	}
 
-	return s.request, nil
+	sc.nconn.Close()
+	sc.connHandler.OnClose(errRet)
 }
 
-// ReadFrameTCPOrRequest reads an InterleavedFrame or a Request.
-func (s *ServerConn) ReadFrameTCPOrRequest(timeout bool) (interface{}, error) {
-	s.frame.Content = s.tcpFrameBuffer.Next()
+func (sc *ServerConn) handleRequest(req *base.Request) error {
+	sc.mutex.Lock()
+	defer sc.mutex.Unlock()
 
-	if timeout {
-		s.nconn.SetReadDeadline(time.Now().Add(s.conf.ReadTimeout))
+	// check cseq
+	cseq, ok := req.Header["CSeq"]
+	if !ok || len(cseq) != 1 {
+		sc.nconn.SetWriteDeadline(time.Now().Add(sc.s.conf.WriteTimeout))
+		base.Response{
+			StatusCode: base.StatusBadRequest,
+			Header:     base.Header{},
+		}.Write(sc.bw)
+		return fmt.Errorf("cseq is missing")
 	}
 
-	return base.ReadInterleavedFrameOrRequest(s.frame, s.request, s.br)
+	res, err := sc.connHandler.OnRequest(req)
+
+	// add cseq to response
+	res.Header["CSeq"] = cseq
+
+	sc.nconn.SetWriteDeadline(time.Now().Add(sc.s.conf.WriteTimeout))
+	res.Write(sc.bw)
+
+	return err
 }
 
-// WriteResponse writes a Response.
-func (s *ServerConn) WriteResponse(res *base.Response) error {
-	s.nconn.SetWriteDeadline(time.Now().Add(s.conf.WriteTimeout))
-	return res.Write(s.bw)
-}
+// WriteFrame writes a frame.
+func (sc *ServerConn) WriteFrame(trackID int, streamType StreamType, content []byte) error {
+	sc.mutex.Lock()
+	defer sc.mutex.Unlock()
 
-// WriteFrameTCP writes an InterleavedFrame.
-func (s *ServerConn) WriteFrameTCP(trackID int, streamType StreamType, content []byte) error {
 	frame := base.InterleavedFrame{
 		TrackID:    trackID,
 		StreamType: streamType,
 		Content:    content,
 	}
 
-	s.nconn.SetWriteDeadline(time.Now().Add(s.conf.WriteTimeout))
-	return frame.Write(s.bw)
+	sc.nconn.SetWriteDeadline(time.Now().Add(sc.s.conf.WriteTimeout))
+	return frame.Write(sc.bw)
 }