diff --git a/CHANGES b/CHANGES
index 04e48419d6..2dd47245dc 100644
--- a/CHANGES
+++ b/CHANGES
@@ -19,6 +19,12 @@ res_agi
    EAGI provides. If not specified, it will continue to use the default signed
    linear (slin).
 
+chan_pjsip
+------------------
+ * When dialing an endpoint directly or using the PJSIP_DIAL_CONTACTS dialplan
+   function any contact which is considered unreachable due to qualify being
+   enabled will no longer be called.
+
 ------------------------------------------------------------------------------
 --- Functionality changes from Asterisk 13.15.0 to Asterisk 13.16.0 ----------
 ------------------------------------------------------------------------------
diff --git a/channels/pjsip/dialplan_functions.c b/channels/pjsip/dialplan_functions.c
index 652a6b7f38..d11636ccc4 100644
--- a/channels/pjsip/dialplan_functions.c
+++ b/channels/pjsip/dialplan_functions.c
@@ -898,7 +898,7 @@ int pjsip_acf_dial_contacts_read(struct ast_channel *chan, const char *cmd, char
 		if (!aor) {
 			/* If the AOR provided is not found skip it, there may be more */
 			continue;
-		} else if (!(contacts = ast_sip_location_retrieve_aor_contacts(aor))) {
+		} else if (!(contacts = ast_sip_location_retrieve_aor_contacts_filtered(aor, AST_SIP_CONTACT_FILTER_REACHABLE))) {
 			/* No contacts are available, skip it as well */
 			continue;
 		} else if (!ao2_container_count(contacts)) {
diff --git a/include/asterisk/res_pjsip.h b/include/asterisk/res_pjsip.h
index bc3b8d4ff9..d4bd52c8f5 100644
--- a/include/asterisk/res_pjsip.h
+++ b/include/asterisk/res_pjsip.h
@@ -870,6 +870,17 @@ struct ast_sip_endpoint_identifier {
     struct ast_sip_endpoint *(*identify_endpoint)(pjsip_rx_data *rdata);
 };
 
+/*!
+ * \brief Contact retrieval filtering flags
+ */
+enum ast_sip_contact_filter {
+	/*! \brief Default filter flags */
+	AST_SIP_CONTACT_FILTER_DEFAULT = 0,
+
+	/*! \brief Return only reachable or unknown contacts */
+	AST_SIP_CONTACT_FILTER_REACHABLE = (1 << 0),
+};
+
 /*!
  * \brief Register a SIP service in Asterisk.
  *
@@ -1055,6 +1066,18 @@ struct ast_sip_aor *ast_sip_location_retrieve_aor(const char *aor_name);
  */
 struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact(const struct ast_sip_aor *aor);
 
+/*!
+ * \brief Retrieve the first bound contact for an AOR and filter based on flags
+ * \since 13.16.0
+ *
+ * \param aor Pointer to the AOR
+ * \param flags Filtering flags
+ * \retval NULL if no contacts available
+ * \retval non-NULL if contacts available
+ */
+struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags);
+
 /*!
  * \brief Retrieve all contacts currently available for an AOR
  *
@@ -1069,6 +1092,23 @@ struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact(const struct
  */
 struct ao2_container *ast_sip_location_retrieve_aor_contacts(const struct ast_sip_aor *aor);
 
+/*!
+ * \brief Retrieve all contacts currently available for an AOR and filter based on flags
+ * \since 13.16.0
+ *
+ * \param aor Pointer to the AOR
+ * \param flags Filtering flags
+ *
+ * \retval NULL if no contacts available
+ * \retval non-NULL if contacts available
+ *
+ * \warning
+ * Since this function prunes expired contacts before returning, it holds a named write
+ * lock on the aor.  If you already hold the lock, call ast_sip_location_retrieve_aor_contacts_nolock instead.
+ */
+struct ao2_container *ast_sip_location_retrieve_aor_contacts_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags);
+
 /*!
  * \brief Retrieve all contacts currently available for an AOR without locking the AOR
  * \since 13.9.0
@@ -1083,6 +1123,22 @@ struct ao2_container *ast_sip_location_retrieve_aor_contacts(const struct ast_si
  */
 struct ao2_container *ast_sip_location_retrieve_aor_contacts_nolock(const struct ast_sip_aor *aor);
 
+/*!
+ * \brief Retrieve all contacts currently available for an AOR without locking the AOR and filter based on flags
+ * \since 13.16.0
+ *
+ * \param aor Pointer to the AOR
+ * \param flags Filtering flags
+ *
+ * \retval NULL if no contacts available
+ * \retval non-NULL if contacts available
+ *
+ * \warning
+ * This function should only be called if you already hold a named write lock on the aor.
+ */
+struct ao2_container *ast_sip_location_retrieve_aor_contacts_nolock_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags);
+
 /*!
  * \brief Retrieve the first bound contact from a list of AORs
  *
@@ -1111,6 +1167,18 @@ struct ao2_container *ast_sip_location_retrieve_contacts_from_aor_list(const cha
  void ast_sip_location_retrieve_contact_and_aor_from_list(const char *aor_list, struct ast_sip_aor **aor,
 	struct ast_sip_contact **contact);
 
+/*!
+ * \brief Retrieve the first bound contact AND the AOR chosen from a list of AORs and filter based on flags
+ * \since 13.16.0
+ *
+ * \param aor_list A comma-separated list of AOR names
+ * \param flags Filtering flags
+ * \param aor The chosen AOR
+ * \param contact The chosen contact
+ */
+void ast_sip_location_retrieve_contact_and_aor_from_list_filtered(const char *aor_list, unsigned int flags,
+	struct ast_sip_aor **aor, struct ast_sip_contact **contact);
+
 /*!
  * \brief Retrieve a named contact
  *
diff --git a/res/res_pjsip.c b/res/res_pjsip.c
index e3a1244a4f..6f1c19e08c 100644
--- a/res/res_pjsip.c
+++ b/res/res_pjsip.c
@@ -3038,7 +3038,7 @@ pjsip_dialog *ast_sip_create_dialog_uac(const struct ast_sip_endpoint *endpoint,
 	if (res != PJ_SUCCESS) {
 		if (res == PJSIP_EINVALIDURI) {
 			ast_log(LOG_ERROR,
-				"Endpoint '%s': Could not create dialog to invalid URI '%s'.  Is endpoint registered?\n",
+				"Endpoint '%s': Could not create dialog to invalid URI '%s'.  Is endpoint registered and reachable?\n",
 				ast_sorcery_object_get_id(endpoint), uri);
 		}
 		return NULL;
diff --git a/res/res_pjsip/location.c b/res/res_pjsip/location.c
index d8f0c58b5c..05e19f53a9 100644
--- a/res/res_pjsip/location.c
+++ b/res/res_pjsip/location.c
@@ -171,12 +171,36 @@ static int contact_link_static(void *obj, void *arg, int flags)
 	return 0;
 }
 
+/*! \brief Internal callback function which removes any contact which is unreachable */
+static int contact_remove_unreachable(void *obj, void *arg, int flags)
+{
+	struct ast_sip_contact *contact = obj;
+	struct ast_sip_contact_status *status;
+	int unreachable;
+
+	status = ast_res_pjsip_find_or_create_contact_status(contact);
+	if (!status) {
+		return 0;
+	}
+
+	unreachable = (status->status == UNAVAILABLE);
+	ao2_ref(status, -1);
+
+	return unreachable ? CMP_MATCH : 0;
+}
+
 struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact(const struct ast_sip_aor *aor)
+{
+	return ast_sip_location_retrieve_first_aor_contact_filtered(aor, AST_SIP_CONTACT_FILTER_DEFAULT);
+}
+
+struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags)
 {
 	struct ao2_container *contacts;
 	struct ast_sip_contact *contact = NULL;
 
-	contacts = ast_sip_location_retrieve_aor_contacts(aor);
+	contacts = ast_sip_location_retrieve_aor_contacts_filtered(aor, flags);
 	if (contacts && ao2_container_count(contacts)) {
 		/* Get the first AOR contact in the container. */
 		contact = ao2_callback(contacts, 0, NULL, NULL);
@@ -186,6 +210,12 @@ struct ast_sip_contact *ast_sip_location_retrieve_first_aor_contact(const struct
 }
 
 struct ao2_container *ast_sip_location_retrieve_aor_contacts_nolock(const struct ast_sip_aor *aor)
+{
+	return ast_sip_location_retrieve_aor_contacts_nolock_filtered(aor, AST_SIP_CONTACT_FILTER_DEFAULT);
+}
+
+struct ao2_container *ast_sip_location_retrieve_aor_contacts_nolock_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags)
 {
 	/* Give enough space for ^ at the beginning and ;@ at the end, since that is our object naming scheme */
 	char regex[strlen(ast_sorcery_object_get_id(aor)) + 4];
@@ -205,10 +235,20 @@ struct ao2_container *ast_sip_location_retrieve_aor_contacts_nolock(const struct
 		ao2_callback(aor->permanent_contacts, OBJ_NODATA, contact_link_static, contacts);
 	}
 
+	if (flags & AST_SIP_CONTACT_FILTER_REACHABLE) {
+		ao2_callback(contacts, OBJ_NODATA | OBJ_MULTIPLE | OBJ_UNLINK, contact_remove_unreachable, NULL);
+	}
+
 	return contacts;
 }
 
 struct ao2_container *ast_sip_location_retrieve_aor_contacts(const struct ast_sip_aor *aor)
+{
+	return ast_sip_location_retrieve_aor_contacts_filtered(aor, AST_SIP_CONTACT_FILTER_DEFAULT);
+}
+
+struct ao2_container *ast_sip_location_retrieve_aor_contacts_filtered(const struct ast_sip_aor *aor,
+	unsigned int flags)
 {
 	struct ao2_container *contacts;
 	struct ast_named_lock *lock;
@@ -219,15 +259,22 @@ struct ao2_container *ast_sip_location_retrieve_aor_contacts(const struct ast_si
 	}
 
 	ao2_lock(lock);
-	contacts = ast_sip_location_retrieve_aor_contacts_nolock(aor);
+	contacts = ast_sip_location_retrieve_aor_contacts_nolock_filtered(aor, flags);
 	ao2_unlock(lock);
 	ast_named_lock_put(lock);
 
 	return contacts;
 }
 
+
 void ast_sip_location_retrieve_contact_and_aor_from_list(const char *aor_list, struct ast_sip_aor **aor,
 	struct ast_sip_contact **contact)
+{
+	ast_sip_location_retrieve_contact_and_aor_from_list_filtered(aor_list, AST_SIP_CONTACT_FILTER_DEFAULT, aor, contact);
+}
+
+void ast_sip_location_retrieve_contact_and_aor_from_list_filtered(const char *aor_list, unsigned int flags,
+	struct ast_sip_aor **aor, struct ast_sip_contact **contact)
 {
 	char *aor_name;
 	char *rest;
@@ -247,7 +294,7 @@ void ast_sip_location_retrieve_contact_and_aor_from_list(const char *aor_list, s
 		if (!(*aor)) {
 			continue;
 		}
-		*contact = ast_sip_location_retrieve_first_aor_contact(*aor);
+		*contact = ast_sip_location_retrieve_first_aor_contact_filtered(*aor, flags);
 		/* If a valid contact is available use its URI for dialing */
 		if (*contact) {
 			break;
diff --git a/res/res_pjsip_session.c b/res/res_pjsip_session.c
index 400eb6a849..1fec089f8e 100644
--- a/res/res_pjsip_session.c
+++ b/res/res_pjsip_session.c
@@ -1717,7 +1717,8 @@ struct ast_sip_session *ast_sip_session_create_outgoing(struct ast_sip_endpoint
 	if (location || !contact) {
 		location = S_OR(location, endpoint->aors);
 
-		ast_sip_location_retrieve_contact_and_aor_from_list(location, &found_aor, &found_contact);
+		ast_sip_location_retrieve_contact_and_aor_from_list_filtered(location, AST_SIP_CONTACT_FILTER_REACHABLE,
+			&found_aor, &found_contact);
 		if (!found_contact || ast_strlen_zero(found_contact->uri)) {
 			uri = location;
 		} else {