A mobile router and a correspondent router, each configured for routing services for nodes within their routing prefixes associated with their respective routing tables, establish a secure, bidirectional tunnel based on a messaging protocol between each other and a route server resource having a prescribed security relationship with the mobile router and correspondent router. The mobile router sends a query via its home agent to the route server resource to identify the correspondent router serving the correspondent node. The mobile router sends a binding update request, specifying a home address and care-of address for the mobile router, to the correspondent router for establishment of a bidirectional tunnel. The correspondent router, upon validating the home address is reachable via the care-of address, establishes the bidirectional tunnel, and updates its routing tables to specify that prescribed address prefixes are reachable via the mobile router home address.