In this paper, we propose a novel ID-based secure distance bounding protocol. Unlike traditional secure distance measurement protocols, our protocol is based on standard insecure distance measurement as elemental building block, and enables the implementation of secure distance bounding using commercial off-the-shelf (COTS) ranging devices. We use the proposed protocol to implement secure radio frequency (RF) Time-of-Arrival (ToA) distance measurements on an ultrawideband (UWB) ranging platform. Based on this, we implement Verifiable Multilateration -- a secure localization scheme that enables the computation of a correct device location in the presence of an adversary. To the best of our knowledge, this is the first implementation of an RF ToA secure localization system.