The popularization of the Internet of Things sparked a growing opportunity for the creation of applications in various areas, by combining the use of sensors and/or actuators. In IoT environments, the role of elements called gateways is to provide an intermediate communication layer between IoT devices and cloud services. A crucial factor for the construction of large-scale applications is to allow the use of IoT devices in a transparent manner, in a service-oriented paradigm, where details of communication and configuration are handled by the gateways. In service model, applications must discover the high-level interfaces of the devices and do not have to deal with underlying details that are handled by gateways. In scenarios of high dynamism and mobility (with connections and disconnections of devices occuring all the time), this discovery and configuration must occur continuously. Traditional service discovery protocols, such as Universal Plug and Play (UPnP) or Service Location Protocol (SLP), have not been developed taking into consideration the high dinamicity of IoT environments. In this sense, we introduce complex event processing (CEP), which is a technology for real-time processing of heterogeneous event flows, which allows the use of CQL (Continuous Query Language for the search of events of interest. In a model where events related to sensor discovery are sent to a CEP flow, expressive queries are written for an application to continuously discover services of interest. This work presents the extension of MHub / CDDL to support continuous service discovery in IoT, using CEP. The MHub / CDDL (Mobile Hub / Context Data Distribution Layer) is a middleware for service discovery and quality context management in IoT, developed in a partnership between the Laboratory for Advanced Collaboration (LAC) from PUC-Rio and the Laboratório de Sistemas Distribuídos Inteligentes (LSDi) from Universidade Federal do Maranhão (UFMA). The implementation of this work is done in Android (Java) platform and a case study in the domain of smart parking is conducted and implemented, elucidating the use of the continuous discovery mechanism.