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The IPv6 Neighbor Discovery protocol has the distinction of being the only truly new protocol created as part of the core of Internet Protocol version 6; there is no NDv4 at all. Of course, most of the services that ND provides to IPv6 were also required in version 4 of the Internet Protocol. They were just provided in a rather diverse set of protocols and standards that the ND protocol has formalized, integrated and improved.
What this means is that while ND is new, the jobs it does are equivalent to the tasks performed by several other protocols in IPv4. Specifically, the bulk of ND functions correspond to the following set of standards, features and message types in IPv4:
Of course, there are other aspects of ND that only somewhat correlate to how things work in IPv4. There are also improvements or new functionality compared to how these IPv4 functions work. Some of these are in fact due to differences in how IPv6 itself operates compared to IPv4. For example, prefix discovery in ND is sort of related to the Address Mask Request and Address Mask Reply messaging in ICMPv4.
Overall, ND represents a substantial improvement compared to the way its job was done in IP version 4. Like IPv6 itself, ND is generally better suited to the needs of modern networks than the older protocols. Some of the more important specific improvements made in ND compared to how its job was done in IPv4 include the following: