diff --git a/disagreement/client.py b/disagreement/client.py
index 5fb4c7f..e5604a3 100644
--- a/disagreement/client.py
+++ b/disagreement/client.py
@@ -1112,6 +1112,7 @@ class Client:
         session_id = state["session_id"]
 
         voice = VoiceClient(
+            self,
             endpoint,
             session_id,
             token,
diff --git a/disagreement/voice_client.py b/disagreement/voice_client.py
index db3444b..38b8d09 100644
--- a/disagreement/voice_client.py
+++ b/disagreement/voice_client.py
@@ -6,11 +6,19 @@ from __future__ import annotations
 import asyncio
 import contextlib
 import socket
-from typing import Optional, Sequence
+import threading
+from typing import TYPE_CHECKING, Optional, Sequence
 
 import aiohttp
+# The following import is correct, but may be flagged by Pylance if the virtual
+# environment is not configured correctly.
+from nacl.secret import SecretBox
 
-from .audio import AudioSource, FFmpegAudioSource
+from .audio import AudioSink, AudioSource, FFmpegAudioSource
+from .models import User
+
+if TYPE_CHECKING:
+    from .client import Client
 
 
 class VoiceClient:
@@ -18,6 +26,7 @@ class VoiceClient:
 
     def __init__(
         self,
+        client: Client,
         endpoint: str,
         session_id: str,
         token: str,
@@ -29,6 +38,7 @@ class VoiceClient:
         loop: Optional[asyncio.AbstractEventLoop] = None,
         verbose: bool = False,
     ) -> None:
+        self.client = client
         self.endpoint = endpoint
         self.session_id = session_id
         self.token = token
@@ -38,8 +48,14 @@ class VoiceClient:
         self._udp = udp
         self._session: Optional[aiohttp.ClientSession] = None
         self._heartbeat_task: Optional[asyncio.Task] = None
+        self._receive_task: Optional[asyncio.Task] = None
+        self._udp_receive_thread: Optional[threading.Thread] = None
         self._heartbeat_interval: Optional[float] = None
-        self._loop = loop or asyncio.get_event_loop()
+        try:
+            self._loop = loop or asyncio.get_running_loop()
+        except RuntimeError:
+            self._loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(self._loop)
         self.verbose = verbose
         self.ssrc: Optional[int] = None
         self.secret_key: Optional[Sequence[int]] = None
@@ -47,6 +63,9 @@ class VoiceClient:
         self._server_port: Optional[int] = None
         self._current_source: Optional[AudioSource] = None
         self._play_task: Optional[asyncio.Task] = None
+        self._sink: Optional[AudioSink] = None
+        self._ssrc_map: dict[int, int] = {}
+        self._ssrc_lock = threading.Lock()
 
     async def connect(self) -> None:
         if self._ws is None:
@@ -106,6 +125,49 @@ class VoiceClient:
         except asyncio.CancelledError:
             pass
 
+    async def _receive_loop(self) -> None:
+        assert self._ws is not None
+        while True:
+            try:
+                msg = await self._ws.receive_json()
+                op = msg.get("op")
+                data = msg.get("d")
+                if op == 5:  # Speaking
+                    user_id = int(data["user_id"])
+                    ssrc = data["ssrc"]
+                    with self._ssrc_lock:
+                        self._ssrc_map[ssrc] = user_id
+            except (asyncio.CancelledError, aiohttp.ClientError):
+                break
+
+    def _udp_receive_loop(self) -> None:
+        assert self._udp is not None
+        assert self.secret_key is not None
+        box = SecretBox(bytes(self.secret_key))
+        while True:
+            try:
+                packet = self._udp.recv(4096)
+                if len(packet) < 12:
+                    continue
+
+                ssrc = int.from_bytes(packet[8:12], "big")
+                with self._ssrc_lock:
+                    if ssrc not in self._ssrc_map:
+                        continue
+                    user_id = self._ssrc_map[ssrc]
+                user = self.client._users.get(str(user_id))
+                if not user:
+                    continue
+
+                decrypted = box.decrypt(packet[12:])
+                if self._sink:
+                    self._sink.write(user, decrypted)
+            except (socket.error, asyncio.CancelledError):
+                break
+            except Exception as e:
+                if self.verbose:
+                    print(f"Error in UDP receive loop: {e}")
+
     async def send_audio_frame(self, frame: bytes) -> None:
         if not self._udp:
             raise RuntimeError("UDP socket not initialised")
@@ -148,15 +210,35 @@ class VoiceClient:
 
         await self.play(FFmpegAudioSource(filename), wait=wait)
 
+    def listen(self, sink: AudioSink) -> None:
+        """Start listening to voice and routing to a sink."""
+        if not isinstance(sink, AudioSink):
+            raise TypeError("sink must be an AudioSink instance")
+
+        self._sink = sink
+        if not self._udp_receive_thread:
+            self._udp_receive_thread = threading.Thread(
+                target=self._udp_receive_loop, daemon=True
+            )
+            self._udp_receive_thread.start()
+
     async def close(self) -> None:
         await self.stop()
         if self._heartbeat_task:
             self._heartbeat_task.cancel()
             with contextlib.suppress(asyncio.CancelledError):
                 await self._heartbeat_task
+        if self._receive_task:
+            self._receive_task.cancel()
+            with contextlib.suppress(asyncio.CancelledError):
+                await self._receive_task
         if self._ws:
             await self._ws.close()
         if self._session:
             await self._session.close()
         if self._udp:
             self._udp.close()
+        if self._udp_receive_thread:
+            self._udp_receive_thread.join(timeout=1)
+        if self._sink:
+            self._sink.close()
diff --git a/pyproject.toml b/pyproject.toml
index 1c006e8..aefbedb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,6 +26,7 @@ classifiers = [
 
 dependencies = [
     "aiohttp>=3.9.0,<4.0.0",
+    "PyNaCl>=1.5.0,<2.0.0",
 ]
 
 [project.optional-dependencies]