diff --git a/src/client/mod.rs b/src/client/mod.rs
index 6a6b966..f2a37e3 100644
--- a/src/client/mod.rs
+++ b/src/client/mod.rs
@@ -1488,21 +1488,18 @@ impl Session<Described> {
                 description,
             })
         })?;
-        match inner.session.as_ref() {
-            Some(SessionHeader { id, .. }) if id.as_ref() != &*response.session.id => {
-                bail!(ErrorInt::RtspResponseError {
-                    conn_ctx: *conn.inner.ctx(),
-                    msg_ctx,
-                    method: rtsp_types::Method::Setup,
-                    cseq,
-                    status,
-                    description: format!(
-                        "session id changed from {:?} to {:?}",
-                        id, response.session.id,
-                    ),
-                });
+
+        match inner.session.as_mut() {
+            Some(sess_header) => {
+                if sess_header.id.as_ref() != &*response.session.id {
+                    debug!(
+                        "reestablished session {:?}(was {:?}), timeout={}s",
+                        response.session.id, sess_header.id, response.session.timeout_sec
+                    );
+                    *sess_header = response.session;
+                }
             }
-            Some(_) => {}
+
             None => {
                 debug!(
                     "established session {:?}, timeout={}s",
@@ -1511,6 +1508,7 @@ impl Session<Described> {
                 *inner.session = Some(response.session)
             }
         };
+
         let conn_ctx = conn.inner.ctx();
         let (stream_ctx, udp_sockets);
         match udp {
diff --git a/src/lib.rs b/src/lib.rs
index 38de38b..827e198 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -91,7 +91,7 @@ struct ReceivedMessage {
 ///     codec-specified clock rate.
 /// *   the full timestamp.
 /// *   NPT
-#[derive(Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub struct Timestamp {
     /// A timestamp which must be compared to `start`.
     timestamp: i64,
@@ -171,12 +171,6 @@ impl Display for Timestamp {
     }
 }
 
-impl Debug for Timestamp {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        Display::fmt(self, f)
-    }
-}
-
 /// The Unix epoch as an [`NtpTimestamp`].
 pub const UNIX_EPOCH: NtpTimestamp = NtpTimestamp((2_208_988_800) << 32);