diff --git a/MILESTONES.md b/MILESTONES.md
index e5a5a27..f6c1e2d 100644
--- a/MILESTONES.md
+++ b/MILESTONES.md
@@ -12,10 +12,10 @@ This document outlines the phased development roadmap for the Atlas Routing engi
 
 ## Milestone 2: Basic URI Matching & Methods
 *Goal: Implement the matching engine for standard HTTP methods and static URIs.*
-- [ ] Implement fluent methods: `get()`, `post()`, `put()`, `patch()`, `delete()`.
-- [ ] Build the URI Matcher for static paths.
-- [ ] Support for PSR-7 `ServerRequestInterface` type-hinting in the matcher.
-- [ ] Implement basic Error Handling (Global 404).
+- [x] Implement fluent methods: `get()`, `post()`, `put()`, `patch()`, `delete()`.
+- [x] Build the URI Matcher for static paths.
+- [x] Support for PSR-7 `ServerRequestInterface` type-hinting in the matcher.
+- [x] Implement basic Error Handling (Global 404).
 
 ## Milestone 3: Parameters & Validation
 *Goal: Support for dynamic URIs with the `{{var}}` syntax and parameter validation.*
diff --git a/src/NotFoundRouteException.php b/src/NotFoundRouteException.php
new file mode 100644
index 0000000..be97806
--- /dev/null
+++ b/src/NotFoundRouteException.php
@@ -0,0 +1,7 @@
+<?php
+
+namespace Atlas;
+
+class NotFoundRouteException extends \RuntimeException
+{
+}
\ No newline at end of file
diff --git a/src/Router.php b/src/Router.php
index 0434e15..12aba0e 100644
--- a/src/Router.php
+++ b/src/Router.php
@@ -7,6 +7,7 @@ use Psr\Http\Message\ServerRequestInterface;
 class Router
 {
     private array $routes = [];
+    protected mixed $fallbackHandler = null;
 
     public function __construct(
         private readonly Config $config
@@ -57,7 +58,13 @@ class Router
 
     private function normalizePath(string $path): string
     {
-        return '/' . ltrim($path, '/');
+        $normalized = trim($path, '/');
+
+        if (empty($normalized)) {
+            return '/';
+        }
+
+        return '/' . $normalized;
     }
 
     protected function storeRoute(RouteDefinition $routeDefinition): void
@@ -90,6 +97,26 @@ class Router
         return null;
     }
 
+    public function matchOrFail(ServerRequestInterface $request): RouteDefinition
+    {
+        $method = strtoupper($request->getMethod());
+        $path = $this->normalizePath($request->getUri()->getPath());
+
+        foreach ($this->getRoutes() as $routeDefinition) {
+            if (strtoupper($routeDefinition->getMethod()) === $method && $routeDefinition->getPath() === $path) {
+                return $routeDefinition;
+            }
+        }
+
+        throw new NotFoundRouteException('No route matched the request');
+    }
+
+    public function fallback(mixed $handler): self
+    {
+        $this->fallbackHandler = $handler;
+        return $this;
+    }
+
     public function url(string $name, array $parameters = []): string
     {
         $routes = $this->getRoutes();
diff --git a/tests/Unit/ErrorHandlingTest.php b/tests/Unit/ErrorHandlingTest.php
new file mode 100644
index 0000000..620b5a4
--- /dev/null
+++ b/tests/Unit/ErrorHandlingTest.php
@@ -0,0 +1,161 @@
+<?php
+
+namespace Atlas\Tests\Unit;
+
+use Atlas\Router;
+use PHPUnit\Framework\TestCase;
+use Psr\Http\Message\ServerRequestInterface;
+use Psr\Http\Message\UriInterface;
+
+final class ErrorHandlingTest extends TestCase
+{
+    public function testMatchOrFailThrowsExceptionWhenNoRouteFound(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $uri = $this->createMock(UriInterface::class);
+        $uri->method('getPath')->willReturn('/nonexistent');
+        $uri->method('getScheme')->willReturn('http');
+        $uri->method('getHost')->willReturn('localhost');
+        $uri->method('getPort')->willReturn(80);
+
+        $request = $this->createMock(ServerRequestInterface::class);
+        $request->method('getMethod')->willReturn('GET');
+        $request->method('getUri')->willReturn($uri);
+
+        $this->expectException(\Atlas\NotFoundRouteException::class);
+
+        $router->matchOrFail($request);
+    }
+
+    public function testMatchReturnsNullWhenNoRouteFound(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $uri = $this->createMock(UriInterface::class);
+        $uri->method('getPath')->willReturn('/nonexistent');
+        $uri->method('getScheme')->willReturn('http');
+        $uri->method('getHost')->willReturn('localhost');
+        $uri->method('getPort')->willReturn(80);
+
+        $request = $this->createMock(ServerRequestInterface::class);
+        $request->method('getMethod')->willReturn('GET');
+        $request->method('getUri')->willReturn($uri);
+
+        $result = $router->match($request);
+
+        $this->assertNull($result);
+    }
+
+    public function testRouteChainingWithDifferentHttpMethods(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $result = $router->get('/test', 'GetHandler')->post('/test', 'PostHandler');
+
+        $this->assertTrue($result instanceof Router);
+        $this->assertCount(2, $router->getRoutes());
+    }
+
+    public function testMatchUsingRouteDefinition(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $router->get('/test', 'TestMethod');
+
+        $routes = $router->getRoutes();
+        $this->assertCount(1, $routes);
+        $this->assertInstanceOf(\Atlas\RouteDefinition::class, $routes[0]);
+    }
+
+    public function testCaseInsensitiveHttpMethodMatching(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $router->get('/test', 'TestHandler');
+
+        $uri = $this->createMock(UriInterface::class);
+        $uri->method('getPath')->willReturn('/test');
+        $uri->method('getScheme')->willReturn('http');
+        $uri->method('getHost')->willReturn('localhost');
+        $uri->method('getPort')->willReturn(80);
+
+        $request = $this->createMock(ServerRequestInterface::class);
+        $request->method('getMethod')->willReturn('GET');
+        $request->method('getUri')->willReturn($uri);
+
+        $matchedRoute = $router->match($request);
+
+        $this->assertNotNull($matchedRoute);
+    }
+
+    public function testPathNormalizationLeadingSlashes(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $router->get('/test', 'TestHandler');
+
+        $uri = $this->createMock(UriInterface::class);
+        $uri->method('getPath')->willReturn('/test');
+        $uri->method('getScheme')->willReturn('http');
+        $uri->method('getHost')->willReturn('localhost');
+        $uri->method('getPort')->willReturn(80);
+
+        $request = $this->createMock(ServerRequestInterface::class);
+        $request->method('getMethod')->willReturn('GET');
+        $request->method('getUri')->willReturn($uri);
+
+        $matchedRoute = $router->match($request);
+
+        $this->assertNotNull($matchedRoute);
+    }
+
+    public function testMatchOrFailThrowsExceptionForMultipleRoutes(): void
+    {
+        $config = new \Atlas\Config([
+            'modules_path' => ['/path/to/modules']
+        ]);
+
+        $router = new Router($config);
+
+        $router->get('/test', 'TestHandler');
+
+        $uri = $this->createMock(UriInterface::class);
+        $uri->method('getPath')->willReturn('/test');
+        $uri->method('getScheme')->willReturn('http');
+        $uri->method('getHost')->willReturn('localhost');
+        $uri->method('getPort')->willReturn(80);
+
+        $request = $this->createMock(ServerRequestInterface::class);
+        $request->method('getMethod')->willReturn('GET');
+        $request->method('getUri')->willReturn($uri);
+
+        $matchedRoute = $router->matchOrFail($request);
+
+        $this->assertInstanceOf(\Atlas\RouteDefinition::class, $matchedRoute);
+    }
+}
\ No newline at end of file