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Waiters, bartenders, and taxi drivers will expect a tip.

Service charges are included in all restaurant checks, as is tax (listed as MwSt), but it is also customary to round up to the next highest euro for bills under €10. Above that sum you should add a little more, generally about 5%–10% of the bill. Give it to the waitstaff as you pay the bill; don't leave it on the table, as that's considered rude.