This paper presents a novel peer-to-peer system that is particularly well suited to support context-aware computing. The system, called GeoPeer, aims to combine the advantages of peer-to-peer systems that implement distributed hash tables with the suitability of geographical routing for supporting location-constrained queries and information dissemination. GeoPeer is comprised of two fundamental components: a Delaunay triangulation used to build a connected lattice of nodes and a mechanism to manage long range contacts that allows good routing performance, despite unbalanced distribution of nodes.