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Named Data Networking (NDN) offers promising advantages in deploying next-generation service applications over distributed computing networks. We consider the problem of dynamic orchestration over a NDN-based computing network, in which nodes can be equipped with communication, computation, and data producing resources. Given a set of services with function-chaining structures, we address the design of distributed online algorithm that controls each node to make adaptive decisions on flowing service requests, committing function implementations, and/or producing data. We design a Service Discovery Assisted Dynamic Orchestration (SDADO) algorithm that reduces the end-to-end (E2E) delay of delivering the services, while providing optimal throughput performance. The proposed algorithm hybrids queuing-based flexibility and topology-based discipline, where the topological information is not pre-available but obtained through our proposed service discovery mechanism. We provide throughput-optimality analysis for SDADO, and then provide numerical results that confirm our analysis and demonstrates reduced round-trip E2E delay.