Localization in Mobile Ad-hoc Networks (MANETs) and Wireless Sensor Networks (WSNs) is an issue of great interest, especially in applications such as the IoT and VANETs. We propose a solution that overcomes two limiting characteristics of these types of networks. The first is the high cost of nodes with a location sensor (such as GPS) which we will refer to as anchor nodes. The second is the low computational capability of nodes in the network. The proposed algorithm addresses two issues; self-localization where each non-anchor node should discover its own position, and global localization where a node establishes knowledge of the position of all the nodes in the network. We address the problem as a graph where vertices are nodes in the network and edges indicate connectivity between nodes. The weights of edges represent the Euclidean distance between the nodes. Given a graph with at least three anchor nodes and knowing the maximum communication range for each node, we are able to localize nodes using fairly simple computations in a moderately dense graph.