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As the vision of pervasive computing gradually becomes a reality, we are seeing an increasing number of services in our everyday environments. We don't just access them at desktop computers but everywhere our activities lead us-using mobile terminals and built-in technology. Although a positive phenomenon, this transition also introduces considerable challenges to discovering and selecting services. The authors propose a general framework for requesting pervasive services by touching RFID tags. Visual symbols communicate to users the objects that they can touch and that activate services. When a user touches such a symbol with a mobile phone, the data stored in the tag and other contextual information related to the situation trigger the requested service. The authors designed a set of visual symbols and implemented the required functionality as component-based middleware. They studied this novel system's usability and user experience. This article is part of a special issue on RFID Technology.