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. A reactive (i.e., on-demand) protocol is used that enables the requesting device (e.g, the mobile router, correspondent router), to obtain routing information in a secure manner from the route server. 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 establishes the bidirectional tunnel, and updates its routing tables based on information from the route server resource.