The answer is, no. Not really.
At restaurants, the government already includes a 15% service charge on your check (listed as seriv compris). So it is unnecessary to add additional money. If you are paying in cash, and receive change back you can leave a few coins can be left as a sign of appreciation to your server.
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For instance, at a cafe, two expressos could be something like 3.60 Euros. If you pay 4 Euros to the server, he will give you back 40 cents and you could leave that.
For lunch or dinner, you could leave a couple of Euros extra. If you pay by credit card, you can either leave nothing or if you have a few coins, feel free to add them to the tray.
But seriously, do not feel like you are going to piss off the server if you leave nothing. Unlike in the United States, the waitstaff is professionals with salaries, they are decently paid and make a good (and sometimes excellent) living.
A few other tipping situations:
- If you ever go to the theater, you will be escorted to your seat (usually by women). She will expect a pourboire (tip) which is usually 1-2 Euros per person.
- In hotels, you do not have to tip the valet
- You should tip your taxi driver 1-2 Euros
There you have it!