We propose a covariant, nonperturbative gauge-fixing procedure for lattice gauge theories that avoids the problem of Gribov copies. This is closely related to a recent proposal for a gauge fixing in the continuum that we review. The lattice gauge-fixed model allows both analytical and numerical investigations: on the analytical side, explicit nonperturbative calculations of gauge-dependent quantities can be easily performed in the framework of a generalized strong-coupling expansion, while on the numerical side a stochastic gauge-fixing algorithm is very naturally associated with the scheme. In both applications one can study the gauge dependence of the results, since the model actually provides a "smooth" family of gauge-fixing conditions.