diff --git a/connclient.go b/connclient.go
index 5f8dd3c2..1cc1d742 100644
--- a/connclient.go
+++ b/connclient.go
@@ -732,75 +732,82 @@ func (c *ConnClient) Play(u *url.URL) (*base.Response, error) {
 	return res, nil
 }
 
-// LoopUDP must be called after SetupUDP() and Play(); it keeps
+// LoopUDP must be called after Play() or Record(); it keeps
 // the TCP connection open with keepalives, and returns when the TCP
 // connection closes.
 func (c *ConnClient) LoopUDP() error {
-	if c.state != connClientStateReading {
-		return fmt.Errorf("can be called only after a successful Play()")
+	if c.state != connClientStateReading && c.state != connClientStatePublishing {
+		return fmt.Errorf("can be called only after a successful Play() or Record()")
 	}
 
 	if *c.streamProtocol != StreamProtocolUDP {
 		return fmt.Errorf("stream protocol is not UDP")
 	}
 
-	readDone := make(chan error)
-	go func() {
+	if c.state == connClientStateReading {
+		readDone := make(chan error)
+		go func() {
+			for {
+				c.conf.Conn.SetReadDeadline(time.Now().Add(clientUDPKeepalivePeriod + c.conf.ReadTimeout))
+				var res base.Response
+				err := res.Read(c.br)
+				if err != nil {
+					readDone <- err
+					return
+				}
+			}
+		}()
+
+		keepaliveTicker := time.NewTicker(clientUDPKeepalivePeriod)
+		defer keepaliveTicker.Stop()
+
+		checkStreamTicker := time.NewTicker(clientUDPCheckStreamPeriod)
+		defer checkStreamTicker.Stop()
+
 		for {
-			c.conf.Conn.SetReadDeadline(time.Now().Add(clientUDPKeepalivePeriod + c.conf.ReadTimeout))
-			var res base.Response
-			err := res.Read(c.br)
-			if err != nil {
-				readDone <- err
-				return
-			}
-		}
-	}()
-
-	keepaliveTicker := time.NewTicker(clientUDPKeepalivePeriod)
-	defer keepaliveTicker.Stop()
-
-	checkStreamTicker := time.NewTicker(clientUDPCheckStreamPeriod)
-	defer checkStreamTicker.Stop()
-
-	for {
-		select {
-		case err := <-readDone:
-			c.conf.Conn.Close()
-			return err
-
-		case <-keepaliveTicker.C:
-			_, err := c.Do(&base.Request{
-				Method: base.OPTIONS,
-				Url: &url.URL{
-					Scheme: "rtsp",
-					Host:   c.streamUrl.Host,
-					User:   c.streamUrl.User,
-					// use the stream path, otherwise some cameras do not reply
-					Path: c.streamUrl.Path,
-				},
-				SkipResponse: true,
-			})
-			if err != nil {
+			select {
+			case err := <-readDone:
 				c.conf.Conn.Close()
-				<-readDone
 				return err
-			}
 
-		case <-checkStreamTicker.C:
-			now := time.Now()
-
-			for _, lastUnix := range c.udpLastFrameTimes {
-				last := time.Unix(atomic.LoadInt64(lastUnix), 0)
-
-				if now.Sub(last) >= c.conf.ReadTimeout {
+			case <-keepaliveTicker.C:
+				_, err := c.Do(&base.Request{
+					Method: base.OPTIONS,
+					Url: &url.URL{
+						Scheme: "rtsp",
+						Host:   c.streamUrl.Host,
+						User:   c.streamUrl.User,
+						// use the stream path, otherwise some cameras do not reply
+						Path: c.streamUrl.Path,
+					},
+					SkipResponse: true,
+				})
+				if err != nil {
 					c.conf.Conn.Close()
 					<-readDone
-					return fmt.Errorf("no packets received recently (maybe there's a firewall/NAT in between)")
+					return err
+				}
+
+			case <-checkStreamTicker.C:
+				now := time.Now()
+
+				for _, lastUnix := range c.udpLastFrameTimes {
+					last := time.Unix(atomic.LoadInt64(lastUnix), 0)
+
+					if now.Sub(last) >= c.conf.ReadTimeout {
+						c.conf.Conn.Close()
+						<-readDone
+						return fmt.Errorf("no packets received recently (maybe there's a firewall/NAT in between)")
+					}
 				}
 			}
 		}
 	}
+
+	// connClientStatePublishing
+	c.conf.Conn.SetReadDeadline(time.Time{}) // disable deadline
+	var res base.Response
+	return res.Read(c.br)
 }
 
 // Announce writes an ANNOUNCE request and reads a Response.
diff --git a/connclientdial_test.go b/connclientdial_test.go
index 7e5ae567..af506730 100644
--- a/connclientdial_test.go
+++ b/connclientdial_test.go
@@ -161,6 +161,7 @@ func TestConnClientDialPublishUDP(t *testing.T) {
 			var conn *ConnClient
 			defer func() {
 				conn.Close()
+				conn.LoopUDP()
 			}()
 
 			go func() {
diff --git a/examples/client-publish-tcp.go b/examples/client-publish-tcp.go
index 7213ec59..eda640bd 100644
--- a/examples/client-publish-tcp.go
+++ b/examples/client-publish-tcp.go
@@ -59,6 +59,7 @@ func main() {
 		// write frames to the server
 		err = conn.WriteFrameTCP(track.Id, gortsplib.StreamTypeRtp, buf[:n])
 		if err != nil {
+			fmt.Println("connection is closed (%s)", err)
 			break
 		}
 	}
diff --git a/examples/client-publish-udp.go b/examples/client-publish-udp.go
index 4d792f1b..781f4a6f 100644
--- a/examples/client-publish-udp.go
+++ b/examples/client-publish-udp.go
@@ -62,4 +62,8 @@ func main() {
 			break
 		}
 	}
+
+	// wait until the connection is closed
+	err = conn.LoopUDP()
+	fmt.Println("connection is closed (%s)", err)
 }
diff --git a/examples/client-read-udp.go b/examples/client-read-udp.go
index a6e9fab0..a9e44880 100644
--- a/examples/client-read-udp.go
+++ b/examples/client-read-udp.go
@@ -56,6 +56,7 @@ func main() {
 		}(trackId)
 	}
 
+	// wait until the connection is closed
 	err = conn.LoopUDP()
 	fmt.Println("connection is closed (%s)", err)
 }