We study the distribution of non-discrete orbits of geometrically finite groups in SO(n, 1) acting on R n+1 , and more generally on the quotient of SO(n, 1) by a horospherical subgroup. Using equidistribution of horospherical flows, we obtain both asymptotics for the distribution of orbits of general geometrically finite groups, and quantitative statements with additional assumptions.Proposition 1.1. Let Γ be convex cocompact. For any ϕ ∈ C c (V ) and every v ∈ V with v − ∈ Λ(Γ), as T → ∞, we have that