Indy TCP Client/Server with the client acting as a server

How can Indy's TIdTCPClient and TIdTCPServer be used in the following scenario:

Client  ---------- initate connection -----------> Server
...
Client  <---------------command------------------- Server
Client  ----------------response-----------------> Server
...
Client  <---------------command------------------- Server
Client  ----------------response-----------------> Server

The client initiates the connection, but acts as a "server" (waiting for commands and executing them).

The OnExecute approach of TIdTCPServer does not work well in this case (at least I am not getting it to work well). How could I do this?

I hope the question is clear enough.