A communications system and method are provided for handing over a call from a packet-switched network (e.g., IP network) to a circuit-switched network (e.g., PLMN, PSTN, etc.). The system includes a first terminal capable of communicating via a packet-switched network and a circuit-switched network, and a second terminal capable of communicating via a circuit-switched network. The system also includes a gateway capable of mapping communications between a packet-switched network and at least one circuit-switched network. The gateway can support communication between the first terminal and the second terminal such that the first terminal has a packet-switched connection with the gateway and the second terminal has a circuit-switched connection with the gateway. The first terminal can then establish a circuit-switch connection with the gateway. Thereafter, the gateway can connect the circuit-switched connection established between the first terminal and the gateway with the circuit-switched connection between the gateway and the second terminal.