https://en.wikipedia.org/wiki/CSipSimple (Android SIP client)
For a more low-level stuff, it might worth having a look at http://www.pjsip.org/ (a really good SIP library written in C with among others, Java bindings; CSipSimple is based on it).
For a more low-level stuff, it might worth having a look at http://www.pjsip.org/ (a really good SIP library written in C with among others, Java bindings; CSipSimple is based on it).
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