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Streaming video has become a popular form of transferring video over wireless networks. TCP-friendly rate control (TFRC) is used as a streaming video transport protocol. Since TFRC was designed for applications that would prefer to maintain a slowly-changing sending rate, it is less responsive to changes in handover between heterogeneous wireless networks. This paper shows a new TFRC streaming system for vertical handover (VHO) over wireless overlay network. The proposed TFRC streaming system consists of streaming server and client which use explicit VHO messages indicating VHO and error-resilient TFRC and concealment coping with VHO. The simulation results show that the proposed one provides better QoS and throughput supports than the conventional TFRC during VHO.