How to configure FreeSBC with redundant servers

How to configure FreeSBC with HA, using 2 servers, keeping the same one IP address for SIP and RTP traffic on both servers.
Does anyone have such scenario ?
I’m familiar with HA of the TelcoBridges gateways on the TDM gateways, but not for SIP on the SBC.

Actually it is almost same with TDM gateways HA configuration. Please check following link;

https://docs.telcobridges.com/tbwiki/High_Availability