Computing devices and method for performing a secure neighbor discovery. A local computing device transmits an encrypted local node identifier and an encrypted local challenge to a remote computing device. The remote computing device generates a local challenge response based on the local challenge; and transmits an encrypted remote node identifier and an encrypted local challenge response to the local computing device. The local computing device determines that the received local challenge response corresponds to an expected local challenge response generated based on the local challenge. The remote computing device further transmits an encrypted remote challenge. The local computing device generates a remote challenge response based on the remote challenge; and transmits an encrypted remote challenge response to the remote computing device. The remote computing device determines that the received remote challenge response corresponds to an expected remote challenge response generated based on the remote challenge.