Teredo is a traversal solution for HIP. You can expirement with Teredo by installing the Miredo client software. Then, establish HIP connections to Teredo addresses (check ifconfig teredo) at the client side as instructed in the section called “For Hackers: How to Test HIP Connectivity from Command Line using two Locally Connected Hosts”. As Teredo is a NAT traversal solution by itself, you don't have use UDP encapsulation for HIP (hipconf nat none).

See http://www.cs.helsinki.fi/u/sklvarjo/miredo.htm for further information on Teredo configuration with HIP. Table 3.1, “Test Servers” lists addresses of the public InfraHIP test servers with Teredo addresses. The servers provide also free rendezvous service that can be combined with Teredo.