Wireless networks and the voice over Internet protocol (VoIP) have recently been widely adapted. VoIP services over Ad-hoc network can be accomplished by middleware embedded in mobile devices. In this study, we have implemented an intelligent VoIP system with embedded pseudo session initiation protocol (SIP) server in an Ad-hoc network. We employed the standard SIP protocol and integrated SIP presence to handle SIP signaling and user discovery mechanism. The embedded pseudo SIP server, acting as the middleware between transport and application layers, was compatible with common VoIP user agents (UAs) using SIP. Our testbed shows acceptable VoIP quality of service (QoS) level in transmission delay for both signaling and voice packets.