Microphone arrays are commonly used for Direction of Arrival (DOA) estimation of audio sources. This paper presents the design and implementation of a real-time embedded system (RTES) for audio source localization.A commercially available microphone array assembly (consisting of four microphones) has been interfaced to Raspberry Pi3Bfor estimating the arrival angles of audio/sound/acoustic sources.The acoustic signalsreceived ateach of the microphones are used for DOA estimationusingtheGeneralizedCross Correlation Phase Transform (GCC-PHAT)algorithm. The estimatedDOA is then displayed on the serial monitor. Servomotors are interfaced to the Raspberry Piand are programmed to point towardsthe estimated direction of the audio source(on the basis of the estimated DOA value). The estimatedDOA valueis also updatedto the cloud-based server Firebaseusing the inbuilt Wi-Fi onRaspberry Pi, and can be remotely accessed through a smartphone running on android platform. The proposed system has been designed and tested successfully and it is observed that it provides accurate DOA estimation and audio source tracking in real-time. This has various uses in applications like voice assistant robots,machine audition, hearing aids, source remixing, augmented reality headsets,security cameras, sound tracking (sonar sensor) devices, birdidentification, mammal localization and so on.