diff --git a/etc/rc.d/network b/etc/rc.d/network
index 7a40b4b1aae1..50b47c5f74c0 100755
--- a/etc/rc.d/network
+++ b/etc/rc.d/network
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# $NetBSD: network,v 1.76 2018/10/23 09:25:33 mrg Exp $
+# $NetBSD: network,v 1.78 2020/04/15 20:31:57 kim Exp $
 #
 
 # PROVIDE: network
@@ -215,7 +215,8 @@ network_start_interfaces()
 	# For each line from the $ifconfig_xxN variable or the
 	# /etc/ifconfig.xxN file, we ignore comments and blank lines,
 	# treat lines beginning with "!" as commands to execute, treat
-	# "dhcp" as a special case to invoke dhcpcd, and for any other
+	# "dhcp" as a special case to invoke dhcpcd, treat "rtsol" as
+	# a special case to send a router solicitation, and for any other
 	# line we run "ifconfig xxN", using each line of the file as the
 	# arguments for a separate "ifconfig" invocation.
 	#
@@ -322,6 +323,13 @@ network_start_interfaces()
 						${dhcpcd_flags} $int
 				fi
 				;;
+			rtsol)
+				if ! checkyesno dhcpcd; then
+					/sbin/sysctl -qw \
+						net.inet6.ip6.accept_rtadv=1
+					/sbin/dhcpcd -q6T --nodhcp6 $int
+				fi
+				;;
 			*)
 				# Pass args to ifconfig.  Note
 				# that args may contain embedded
@@ -447,10 +455,9 @@ network_start_ipv6_autoconf()
 
 network_wait_dad()
 {
-	# Wait for the DAD flags to clear form all addresses.
+	# Wait for the DAD flags to clear from all addresses.
 	if [ -n "$ifconfig_wait_dad_flags" ]; then
-		echo 'Waiting for DAD to complete for' \
-		    'statically configured addresses...'
+		echo "Waiting for duplicate address detection to finish..."
 		ifconfig $ifconfig_wait_dad_flags
 	fi
 }
diff --git a/share/man/man5/ifconfig.if.5 b/share/man/man5/ifconfig.if.5
index ecf274c217d1..978687f12a8d 100644
--- a/share/man/man5/ifconfig.if.5
+++ b/share/man/man5/ifconfig.if.5
@@ -1,4 +1,4 @@
-.\"	$NetBSD: ifconfig.if.5,v 1.18 2014/12/29 14:22:25 wiz Exp $
+.\"	$NetBSD: ifconfig.if.5,v 1.20 2020/04/17 13:36:48 kim Exp $
 .\"
 .\" Copyright (c) 1996 Matthew R. Green
 .\" All rights reserved.
@@ -24,7 +24,7 @@
 .\" OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 .\" SUCH DAMAGE.
 .\"
-.Dd December 18, 2014
+.Dd April 15, 2020
 .Dt IFCONFIG.IF 5
 .Os
 .Sh NAME
@@ -94,6 +94,23 @@ is set to true in
 and any per interface configuration or restriction is done in
 .Xr dhcpcd.conf 5 .
 .Pp
+If the line is equal to
+.Dq rtsol ,
+kernel processing of router advertisements will be enabled and an IPv6
+router solicitation message will be sent out on the interface.
+This is useful on networks where default routes can best be learned
+from router advertisements.
+However, if
+.Sy dhcpcd
+has been set to true in
+.Xr rc.conf 5 ,
+it is assumed that
+.Xr dhcpcd 8
+will take care of sending any necessary router solicitation messages and
+processing received router advertisements through its configuration in
+.Xr dhcpcd.conf 5
+instead.
+.Pp
 If a line is empty, or starts with
 .Sq # ,
 the line will be ignored as comment.
@@ -119,6 +136,19 @@ inet6 2001:db8::1 prefixlen 64 alias
 inet6 2001:db8:: prefixlen 64 alias anycast
 .Ed
 .Pp
+For networks that do not use a virtual address for the default gateway
+that could be set using a single address in
+.Sy defaultroute6 ,
+static IPv6 address configuration could use the
+.Dq rtsol
+keyword instead to solicit router advertisements for learning a default
+route and even achieving route redundancy given multiple responding
+routers:
+.Bd -literal -offset indent
+inet6 2001:db8::100 prefixlen 64 alias
+rtsol
+.Ed
+.Pp
 The following example sets a network name for a wireless interface
 (using quotes to protect special characters in the name),
 and starts
diff --git a/usr.sbin/rtsold/rtsold.8 b/usr.sbin/rtsold/rtsold.8
index 7fda7dfc1bc9..374315704a97 100644
--- a/usr.sbin/rtsold/rtsold.8
+++ b/usr.sbin/rtsold/rtsold.8
@@ -1,4 +1,4 @@
-.\"	$NetBSD: rtsold.8,v 1.37 2017/10/22 18:09:33 abhinav Exp $
+.\"	$NetBSD: rtsold.8,v 1.42 2020/04/17 13:36:49 kim Exp $
 .\"	$KAME: rtsold.8,v 1.17 2001/07/09 22:30:37 itojun Exp $
 .\"
 .\" Copyright (C) 1995, 1996, 1997, and 1998 WIDE Project.
@@ -28,7 +28,7 @@
 .\" OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 .\" SUCH DAMAGE.
 .\"
-.Dd October 12, 2014
+.Dd April 15, 2020
 .Dt RTSOLD 8
 .Os
 .\"
@@ -46,8 +46,23 @@ have been removed from
 as their functionality is now included in
 .Xr dhcpcd 8 .
 .Pp
-For example to send a routing solicitation message and print information
-about it without changing the actual routing table:
-.Bd -literal
-	dhcpcd -dB6T --nodhcp6 <interface>
-.Ed
+For example to send a router solicitation message and print information
+about the response without changing the actual routing table:
+.Pp
+.Dl dhcpcd -dB6T --nodhcp6 < Ns Ar interface Ns \^>
+.Pp
+To quietly send a router solicitation message:
+.Pp
+.Dl dhcpcd -q6T --nodhcp6 < Ns Ar interface Ns \^>
+.Pp
+The
+.Xr ifconfig.if 5
+network interface configuration files and variables can also use an
+.Dq rtsol
+keyword to invoke
+.Xr dhcpcd 8
+to send a router solicitation message, without running it as daemon.
+.\"
+.Sh SEE ALSO
+.Xr ifconfig.if 5 ,
+.Xr dhcpcd 8