Mobile Ad Hoc Networks (MANETs) offer a flexible way to connect mobile devices to build complex infrastructures. A key issue in MANETs is session set up and management since, unlike in conventional networks, there is no centralized component to provide such a service. Yet, session set up is necessary to provide any form of communication beyond unreliable, single message communication. In this paper we describe SIPHoc, a middleware infrastructure for session set up and management in MANETs. SIPHoc provides the same interface as the SIP standard but its implementation is fully decentralized. Moreover, SIP session establishment to and from the Internet is possible as soon as a single node in the MANET has Internet access. The paper presents the architecture and implementation of SIPHoc and evaluates its performance. The experiments show that SIPHoc is message efficient and provides a low dial-to-ring delay. SIPHoc allows SIP based applications to be used in MANETs without modification. In the paper, this is demonstrated by showing how SIPHoc supports VoIP conversations within a MANET and between the MANET and end-points on the Internet.