Continue Now Playing on Another Device

As the title suggests, I was wondering if there is a way to continue listening to your now playing on another device. For Example, Listening to iTunes at the office on my computer. Go to leave, is there a way to just pick up where I left off on my iPhone. This would be great because I use Bluetooth everything and I would be able to just walk to my car continuing to listen, get in car and car Bluetooth starts playing from phone right where i left off instead of hunting for the playlist or track I was listening to on my PC.