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Pervasive computing, the new computing paradigm aiming at providing services anywhere at anytime, poses great challenges on dynamic service composition. Existing service composition methods can hardly meet the requirements of dynamic characteristic and heterogeneity in pervasive computing environment. In this paper, we propose a parameter-based service model to accurately describe pervasive services. Based on the model, pervasive services are aggregated in a two-layer graph according to both semantic and syntactic information of the input and output parameters. Moreover, we design a novel service composition scheme to accomplish the user task while satisfy the QoS requirements. Both theoretical analysis and simulation experiments show that this service composition mechanism is effective in pervasive environment.