Location awareness will be crucial for many future wireless network applications, such as the Internet of Things and vehicular networks. Existing localization works typically propose sequential signaling schemes where one pair of nodes communicate to range their distance at a time. This poses a significant problem for large networks where many nodes are within range of each node. In this work, a novel scheme is proposed which takes merely two frames of transmissions: In the first frame all nodes transmit their respective signatures; in the second frame all nodes basically repeat what they have received in the first frame (assuming full duplexing). By the end of the second frame, every node can estimate not only its distance to all nodes within range, but also the distances between neighboring nodes which are within range of each other. The proposed scheme is highly scalable, and is validated using simulation.