Systems and methods for handling a transition of a roaming mobile user device (i.e., a roaming client) from one access point (AP) to a target AP, referred to herein as soft inter-AP handoff. This technique involves a second mobile user device that is already connected with the target AP, called a roaming coordinator, assisting in handoff coordination between the APs. This coordination includes assisting the roaming client in establishing a client-to-client connection to relay data traffic during the handoff, while the roaming client establishes a connection with the target AP using traditional techniques. Soft inter-AP handoff allows a faster hand-off between APs than traditional techniques, and may reduce jitter in communications with the roaming device during the transition.