An embodiment method implemented by an agent device comprises receiving, by the agent device, from a device, a bootstrap request message over a first communication channel; transmitting, by the agent device, to a coordinating device, a request message comprising the bootstrap request message and a first channel type indicator indicating a channel type of the first communication channel; receiving, by the agent device, from the coordinating device, a response message comprising a bootstrap response message and a second channel type indicator indicating the channel type of the first communication channel; and transmitting, by the agent device, to a device, the bootstrap response message over a second communication channel in accordance with the second channel type indicator.