One of the current challenge of the Mobile IPv6 Working Group at the IETF is to dynamically assign to a Mobile Node its Home Agent, Home Address and to setup necessary security associations. If the Mobile Node is authenticated for network access, the current IETF approach is to use DHCPv6 to deliver the Home Agent and then to use IKEv2. In this article, we assume that the PANA protocol is used for network access authentication. We propose to add some functionalities to this protocol to support Mobile IPv6 Bootstrapping. The Home Agent is directly delivered to the Mobile Node and DHCPv6 is no more necessary. Moreover, it allows a better management of Home Address allocation by the AAA infrastructure. This proposal has been submitted to the IETF and implemented on a testbed at GET/INT research laboratory