Mobile IP protocol, a standard proposed by the Internet Engineering Task Force, was designed to support IP mobility. On the basis of analysis of Mobile IP protocol, it can be concluded that some problems (e.g., security flaws, limited agents deployments, triangular routing and just a little supports by operating systems, etc.) remain to be solved. In this paper, we present a novel mobility supporting scheme based on embedded technology which is called Secure and QoS Guaranteed Solution for Mobile Service (SQS). It implements mobility management for handling seamless handoffs with Embedded Mobile Agent (EmMA) and Mobility Management Server (MMS), which allows nodes to continue to receive datagrams when the nodes change their points of attachment to the Internet. It reduces the dependence on network infrastructure and provides nodes with transparent mobile service. Experimental results show that SQS effectively solves the problems mentioned above and improves Mobile IP protocol.