diff --git a/src/main/native/cpp/tcpsockets/TCPConnector_parallel.cpp b/src/main/native/cpp/tcpsockets/TCPConnector_parallel.cpp
new file mode 100644
index 0000000000..c9b92924bc
--- /dev/null
+++ b/src/main/native/cpp/tcpsockets/TCPConnector_parallel.cpp
@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "tcpsockets/TCPConnector.h"
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <mutex>
+#include <thread>
+#include <tuple>
+
+#include "llvm/SmallSet.h"
+
+using namespace wpi;
+
+// MSVC < 1900 doesn't have support for thread_local
+#if !defined(_MSC_VER) || _MSC_VER >= 1900
+// clang check for availability of thread_local
+#if !defined(__has_feature) || __has_feature(cxx_thread_local)
+#define HAVE_THREAD_LOCAL
+#endif
+#endif
+
+std::unique_ptr<NetworkStream> TCPConnector::connect_parallel(
+    llvm::ArrayRef<std::pair<const char*, int>> servers, Logger& logger,
+    int timeout) {
+  if (servers.empty()) return nullptr;
+
+  // structure to make sure we don't start duplicate workers
+  struct GlobalState {
+    std::mutex mutex;
+#ifdef HAVE_THREAD_LOCAL
+    llvm::SmallSet<std::pair<std::string, int>, 16> active;
+#else
+    llvm::SmallSet<std::tuple<std::thread::id, std::string, int>, 16> active;
+#endif
+  };
+#ifdef HAVE_THREAD_LOCAL
+  thread_local auto global = std::make_shared<GlobalState>();
+#else
+  static auto global = std::make_shared<GlobalState>();
+  auto this_id = std::this_thread::get_id();
+#endif
+  auto local = global;  // copy to an automatic variable for lambda capture
+
+  // structure shared between threads and this function
+  struct Result {
+    std::mutex mutex;
+    std::condition_variable cv;
+    std::unique_ptr<NetworkStream> stream;
+    std::atomic<unsigned int> count{0};
+    std::atomic<bool> done{false};
+  };
+  auto result = std::make_shared<Result>();
+
+  // start worker threads; this is I/O bound so we don't limit to # of procs
+  Logger* plogger = &logger;
+  unsigned int num_workers = 0;
+  for (const auto& server : servers) {
+    std::pair<std::string, int> server_copy{std::string{server.first},
+                                            server.second};
+#ifdef HAVE_THREAD_LOCAL
+    const auto& active_tracker = server_copy;
+#else
+    std::tuple<std::thread::id, std::string, int> active_tracker{
+        this_id, server_copy.first, server_copy.second};
+#endif
+
+    // don't start a new worker if we had a previously still-active connection
+    // attempt to the same server
+    {
+      std::lock_guard<std::mutex> lock(local->mutex);
+      if (local->active.count(active_tracker) > 0) continue;  // already in set
+    }
+
+    ++num_workers;
+
+    // start the worker
+    std::thread([=]() {
+      if (!result->done) {
+        // add to global state
+        {
+          std::lock_guard<std::mutex> lock(local->mutex);
+          local->active.insert(active_tracker);
+        }
+
+        // try to connect
+        auto stream = connect(server_copy.first.c_str(), server_copy.second,
+                              *plogger, timeout);
+
+        // remove from global state
+        {
+          std::lock_guard<std::mutex> lock(local->mutex);
+          local->active.erase(active_tracker);
+        }
+
+        // successful connection
+        if (stream) {
+          std::lock_guard<std::mutex> lock(result->mutex);
+          if (!result->done.exchange(true)) result->stream = std::move(stream);
+        }
+      }
+      ++result->count;
+      result->cv.notify_all();
+    }).detach();
+  }
+
+  // wait for a result, timeout, or all finished
+  std::unique_lock<std::mutex> lock(result->mutex);
+  if (timeout == 0) {
+    result->cv.wait(
+        lock, [&] { return result->stream || result->count >= num_workers; });
+  } else {
+    auto timeout_time =
+        std::chrono::steady_clock::now() + std::chrono::seconds(timeout);
+    result->cv.wait_until(lock, timeout_time, [&] {
+      return result->stream || result->count >= num_workers;
+    });
+  }
+
+  // no need to wait for remaining worker threads; shared_ptr will clean up
+  return std::move(result->stream);
+}
diff --git a/src/main/native/include/tcpsockets/TCPConnector.h b/src/main/native/include/tcpsockets/TCPConnector.h
index 7afb0446af..6b056eca3f 100644
--- a/src/main/native/include/tcpsockets/TCPConnector.h
+++ b/src/main/native/include/tcpsockets/TCPConnector.h
@@ -26,6 +26,7 @@
 
 #include <memory>
 
+#include "llvm/ArrayRef.h"
 #include "tcpsockets/NetworkStream.h"
 
 namespace wpi {
@@ -37,6 +38,9 @@ class TCPConnector {
   static std::unique_ptr<NetworkStream> connect(const char* server, int port,
                                                 Logger& logger,
                                                 int timeout = 0);
+  static std::unique_ptr<NetworkStream> connect_parallel(
+      llvm::ArrayRef<std::pair<const char*, int>> servers, Logger& logger,
+      int timeout = 0);
 };
 
 }  // namespace wpi