An efficient addressing scheme is necessary for auto-configuration and seamless communication in pervasive computing environments. In this paper, we propose an efficient and simple scheme called CoReS (Configuration and Registration Scheme), for address auto-configuration integrated with service registration/location in dynamic mobile ad hoc networks (MANETs) common to pervasive computing environments. Compared to existing approaches, CoReS performs effectively and efficiently in such challenging situations as merger of multiple networks and abrupt node departures. Simulation results show that CoReS demonstrates superior performance in terms of configuration overhead and latency in MANETs. The novel features of CoReS include: i) unique address assignment; ii) smooth handling of topology change; iii) reduced configuration time and overhead; and iv) integrated address configuration and service registration/location.