Ok, thank you for your help Tim! After 3 days of messing with this, I have finally got sipdroid to work with Google Voice. I'm not sure if video works but I can make and receive calls. Here is a document on how to do it: Unlimited Free Calling with Google Voice - Google Docs Lots of good info and scroll down to 9. SIP Sorcery Integration with IPKall for step by step instructions. Goodluck and let me know if you have any questions.