diff --git a/peerconnection.go b/peerconnection.go
index 1f0a7d1591b..3129633a1f8 100644
--- a/peerconnection.go
+++ b/peerconnection.go
@@ -294,6 +294,12 @@ func (pc *PeerConnection) OnNegotiationNeeded(f func()) {
 // onNegotiationNeeded enqueues negotiationNeededOp if necessary
 // caller of this method should hold `pc.mu` lock
 func (pc *PeerConnection) onNegotiationNeeded() {
+	// BEGIN uncomment to cause TestRenegotationOverDataChannel to pass
+	// if handler, ok := pc.onNegotiationNeededHandler.Load().(func()); !ok || handler == nil {
+	// 	return
+	// }
+	// END uncomment to cause TestRenegotationOverDataChannel to pass
+
 	// https://w3c.github.io/webrtc-pc/#updating-the-negotiation-needed-flag
 	// non-canon step 1
 	if pc.negotiationNeededState == negotiationNeededStateRun {
diff --git a/peerconnection_negotiated_over_data_channel_test.go b/peerconnection_negotiated_over_data_channel_test.go
new file mode 100644
index 00000000000..bfce560b33d
--- /dev/null
+++ b/peerconnection_negotiated_over_data_channel_test.go
@@ -0,0 +1,295 @@
+package webrtc
+
+import (
+	"encoding/base64"
+	"encoding/json"
+	"errors"
+	"io"
+	"log"
+	"strings"
+	"sync"
+	"sync/atomic"
+	"testing"
+	"time"
+
+	"github.com/pion/sctp"
+	"github.com/pion/webrtc/v3/pkg/media"
+	"github.com/stretchr/testify/assert"
+)
+
+// run `go test -v -race -run TestRenegotation -count 100 --failfast` to repro
+func TestRenegotationOverDataChannel(t *testing.T) {
+	var (
+		clientNegChannelOpened <-chan struct{}
+		clientNegChannelClosed <-chan struct{}
+		serverNegChannelOpened <-chan struct{}
+		serverNegChannelClosed <-chan struct{}
+	)
+
+	client, server, err := newPair()
+	assert.NoError(t, err)
+	defer func() {
+		assert.NoError(t, client.Close())
+		<-clientNegChannelClosed
+	}()
+
+	defer func() {
+		assert.NoError(t, server.Close())
+		<-serverNegChannelClosed
+	}()
+
+	// Add a renegotation channel. Set these channels up before signaling/answering.
+	clientNegChannelOpened, clientNegChannelClosed, err = ConfigureForRenegotiation(client)
+	assert.NoError(t, err)
+
+	serverNegChannelOpened, serverNegChannelClosed, err = ConfigureForRenegotiation(server)
+	assert.NoError(t, err)
+
+	// Run signaling/answering such that the client + server can connect to each other.
+	signalPair2(t, client, server)
+
+	// Wait for the negotiation channels (aka data channels) to be ready.
+	<-clientNegChannelOpened
+	<-serverNegChannelOpened
+
+	// This test observes a successful renegotiation by having a server create a video track, and
+	// communicating this to the client via the `negotiation` DataChannel. And then sending data
+	// over the video track. Install the `OnTrack` callback before kicking off the renegotiation via
+	// the (server) `AddTrack` call.
+	onTrack := atomic.Bool{}
+	client.OnTrack(func(_ *TrackRemote, _ *RTPReceiver) {
+		onTrack.Store(true)
+	})
+
+	trackLocal, err := NewTrackLocalStaticSample(RTPCodecCapability{MimeType: "video/H264"},
+		"video", "main+camera")
+	assert.NoError(t, err)
+
+	// `AddTrack` triggers the `PeerConnection.OnNegotiationNeeded` callback. Which will
+	// asynchronously start our custom renegotiation code that sends offer/answer messages over the
+	// `negotiation` DataChannel.
+	_, err = server.AddTrack(trackLocal)
+	assert.NoError(t, err)
+
+	// Send data over the track until we observe the `OnTrack` callback is invoked within 10 seconds.
+	for start := time.Now(); time.Since(start) < 10*time.Second; {
+		err = trackLocal.WriteSample(media.Sample{Data: []byte{0, 0, 0, 0, 0}, Timestamp: time.Now(), Duration: time.Millisecond})
+		assert.NoError(t, err)
+		if onTrack.Load() == true {
+			break
+		}
+		time.Sleep(time.Millisecond)
+	}
+	assert.True(t, onTrack.Load())
+}
+
+func signalPair2(t *testing.T, left, right *PeerConnection) {
+	t.Helper()
+
+	leftOffer, err := left.CreateOffer(nil)
+	assert.NoError(t, err)
+	err = left.SetLocalDescription(leftOffer)
+	assert.NoError(t, err)
+	<-GatheringCompletePromise(left)
+
+	leftOffer.SDP = left.LocalDescription().SDP
+	assert.NoError(t, right.SetRemoteDescription(leftOffer))
+
+	rightAnswer, err := right.CreateAnswer(nil)
+	assert.NoError(t, err)
+	assert.NoError(t, right.SetLocalDescription(rightAnswer))
+	<-GatheringCompletePromise(right)
+
+	assert.NoError(t, left.SetRemoteDescription(rightAnswer))
+}
+
+// isUserInitiatedAbortChunkErr returns true if the error is an abort chunk
+// error that the user initiated through Close. Certain browsers (Safari,
+// Chrome and potentially others) close RTCPeerConnections with this type of
+// abort chunk that is not indicative of an actual state of error.
+func isUserInitiatedAbortChunkErr(err error) bool {
+	return err != nil && errors.Is(err, sctp.ErrChunk) &&
+		strings.Contains(err.Error(), "User Initiated Abort: Close called")
+}
+
+func initialDataChannelOnError(pc io.Closer) func(err error) {
+	return func(err error) {
+		if errors.Is(err, sctp.ErrResetPacketInStateNotExist) ||
+			isUserInitiatedAbortChunkErr(err) {
+			log.Printf("initialDataChannelOnError ignoreing err: %s", err)
+			return
+		}
+		log.Printf("premature data channel error before WebRTC channel association %s", err)
+		if err := pc.Close(); err != nil {
+			log.Printf("pc.Close returned err: %s", err)
+		}
+	}
+}
+
+// EncodeSDP encodes the given SDP in base64.
+func EncodeSDP(sdp *SessionDescription) (string, error) {
+	b, err := json.Marshal(sdp)
+	if err != nil {
+		return "", err
+	}
+
+	return base64.StdEncoding.EncodeToString(b), nil
+}
+
+// DecodeSDP decodes the input from base64 into the given SDP.
+func DecodeSDP(in string, sdp *SessionDescription) error {
+	b, err := base64.StdEncoding.DecodeString(in)
+	if err != nil {
+		return err
+	}
+
+	err = json.Unmarshal(b, sdp)
+	if err != nil {
+		return err
+	}
+	return err
+}
+
+// ConfigureForRenegotiation sets up PeerConnection callbacks for updating local descriptions and
+// sending offers when a negotiation is needed (e.g: adding a video track). As well as listening for
+// offers/answers to update remote descriptions (e.g: when the peer adds a video track).
+//
+// If successful, two Go channels are returned. The first Go channel will close when the negotiation
+// DataChannel is open and available for renegotiation. The second Go channel will close when the
+// negotiation DataChannel is closed. PeerConnection.Close does not wait on DataChannel's to finish
+// their work. Thus waiting on this can be helpful to guarantee background goroutines have exitted.
+func ConfigureForRenegotiation(peerConn *PeerConnection) (<-chan struct{}, <-chan struct{}, error) {
+	var negMu sync.Mutex
+	negotiated := true
+	// Packets over this channel must be processed in order (à la TCP).
+	ordered := true
+	negotiationChannelID := uint16(1)
+	negotiationChannel, err := peerConn.CreateDataChannel("negotiation", &DataChannelInit{
+		ID:         &negotiationChannelID,
+		Negotiated: &negotiated,
+		Ordered:    &ordered,
+	})
+	if err != nil {
+		return nil, nil, err
+	}
+
+	negotiationChannel.OnError(initialDataChannelOnError(peerConn))
+
+	// The pion webrtc library may invoke `OnNegotiationNeeded` prior to the connection being
+	// established. We drop those requests on the floor. The original connection is established with
+	// our signaling and answering machinery.
+	//
+	// Additionally, just because a PeerConnection has moved into the `connected` state, that does
+	// not imply the pre-negotiated `negotiation` DataChannel is available for use. We return this
+	// `negOpened` channel to let tests create a happens-before relationship. Such that these tests
+	// can know when a PeerConnection method that invokes `OnNegotiationNeeded` can utilize this
+	// negotiation channel.
+	negOpened := make(chan struct{})
+	negotiationChannel.OnOpen(func() {
+		close(negOpened)
+	})
+
+	negClosed := make(chan struct{})
+	negotiationChannel.OnClose(func() {
+		close(negClosed)
+	})
+
+	// OnNegotiationNeeded is webrtc callback for when a PeerConnection is mutated in a way such
+	// that its local description should change. Such as when a video track is added that should be
+	// streamed to the peer.
+	peerConn.OnNegotiationNeeded(func() {
+		select {
+		case <-negOpened:
+		default:
+			// Negotiation cannot occur over the negotiation channel until after the channel is in
+			// operation.
+			return
+		}
+
+		negMu.Lock()
+		defer negMu.Unlock()
+		// Creating an offer will generate the desired local description that includes the
+		// modifications responsible for entering the callback. Such as adding a video track.
+		offer, err := peerConn.CreateOffer(nil)
+		if err != nil {
+			log.Printf("renegotiation: error creating offer err: %s", err)
+			return
+		}
+
+		// It's not clear to me why an offer is created from a `PeerConnection` just to call
+		// `PeerConnection.SetLocalDescription`. And then when encoding the `Description` ("SDP")
+		// for sending to the peer, we must call `PeerConnection.LocalDescription` rather than using
+		// the `offer`. But it's easy to see that the `offer` and `peerConn.LocalDescription()` are
+		// different (e.g: the latter includes ICE candidates), so it must be done this way.
+		if err = peerConn.SetLocalDescription(offer); err != nil {
+			log.Printf("renegotiation: error setting local description err: %s", err)
+			return
+		}
+
+		// Encode and send the new local description to the peer over the `negotiation` channel. The
+		// peer will respond over the negotiation channel with an answer. That answer will be used to
+		// update the remote description.
+		encodedSDP, err := EncodeSDP(peerConn.LocalDescription())
+		if err != nil {
+			log.Printf("renegotiation: error encoding SDP err: %s", err)
+			return
+		}
+		if err := negotiationChannel.SendText(encodedSDP); err != nil {
+			log.Printf("renegotiation: error sending SDP err: %s", err)
+			return
+		}
+	})
+
+	negotiationChannel.OnMessage(func(msg DataChannelMessage) {
+		negMu.Lock()
+		defer negMu.Unlock()
+
+		description := SessionDescription{}
+		if err := DecodeSDP(string(msg.Data), &description); err != nil {
+			log.Printf("renegotiation: error decoding SDP err: %s ", err)
+			return
+		}
+
+		// A new description was received over the negotiation channel. Use that to update the remote
+		// description.
+		if err := peerConn.SetRemoteDescription(description); err != nil {
+			log.Printf("renegotiation: error setting remote description err: %s", err)
+			return
+		}
+
+		// If the message was an offer, generate an answer, set it as the local description and
+		// respond. Such that the peer can update its remote description.
+		//
+		// If the incoming message was an answer, the peers are now in sync and no further messages
+		// are required.
+		if description.Type != SDPTypeOffer {
+			return
+		}
+
+		// Dan: It's unclear to me how error handling should happen here. Receiving an offer implies
+		// the peer's local description is not in sync with our remote description for that
+		// peer. I'm unsure of the long-term consequence of a pair of PeerConnections being in this
+		// inconsistent state.
+		answer, err := peerConn.CreateAnswer(nil)
+		if err != nil {
+			log.Printf("renegotiation: error creating answer err: %s", err)
+			return
+		}
+		if err = peerConn.SetLocalDescription(answer); err != nil {
+			log.Printf("renegotiation: error setting local description err: %s", err)
+			return
+		}
+
+		encodedSDP, err := EncodeSDP(peerConn.LocalDescription())
+		if err != nil {
+			log.Printf("renegotiation: error encoding SDP err: %s", err)
+			return
+		}
+		if err := negotiationChannel.SendText(encodedSDP); err != nil {
+			log.Printf("renegotiation: error sending SDP err: %s", err)
+			return
+		}
+	})
+
+	return negOpened, negClosed, nil
+}