When I dine out, I have certain expectations of the server. If the server meets these expectations, he or she will get the customary 15% tip. Exceed them, and the tip will exceed 15%. Fall short of them, and the tip begins to erode like a Presidential approval rating.
"WillCAD's Four Simple Rules for Serving Me and Getting A Good Tip:"
1. Don't let me see the bottom of my glass!
Bringing new sodas is the easiest part of the job, and I don't go through a glass of soda that quickly. If my glass goes empty and stays that way for more than a few minutes, the tip begins to erode quickly.
2. LOOK AT ME!
Every five minutes or so, as you pass by my table, just look over at me so I can get your attention if I need something. I don't expect you to ask me "Everything okay can I get you anything how's your food are you having a good time didja see Survivor the other night?" every five minutes, but a simple glance in my direction periodically would enable me to raise my soda glass to motion for a refill, or make a signing motion to ask for the check, or wave you over if I have a question.
3. Be polite and just a little cheerful.
You don't have to kiss my butt or pretend to be my best friend, and you don't have to act like you won the lottery to have me as your customer - just don't act like your dog died when you take my order. And impatient, surly, and arguementative is no way to go though life, son. Well, it is for me, but not when I'm dealing with a client/customer/general public.
4. Make it right.
If you make a minor mistake, or the kitchen screws up my food, I don't expect you to act like you just shot Old Yeller. Forget the sackcloth and ashes routine, just say, "I'm sorry, I'll take care of that" and take care of that. Actions speak way louder than words. Ignoring it or getting grumpy when I point out something wrong is the fastest way to get a lousy tip from me - or none at all.
And most importantly, have a nice day!
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When I dine out, I have certain expectations of the server. But I have certain expectations that I put on myself, as well, and everybody else at my table.
"WillCAD's Four Simple Rules for Being a Good Restaurant Patron:"
1. Keep it clean!
Somebody has to clean up any mess you make after you leave, and they don't get paid enough to deal with your garbage. So unless your server is Mike Rowe, have a little consideration, ya slob, and don't leave piles of chicken bones or pudles of soup, soda, or pancake syrup all over the table.
2. Keep it simple!
Servers aren't telepathic - they don't know what you WANT, they only know what you SAY. So do everybody a favor and actually read your menu and decide what you want to order before the server asks you - and then convey your order in short, simple, coherent sentences. They ain't Creskin; if they give you the wrong thing because you babbled your order in incomprehensible gibberish, it's YOUR fault, not theirs.
3. Treat them with respect!
The lowest, most despicable person on Earth is the person who thinks that a server, bartender, bellhop, painter, ditch-digger, toilet scrubber, or other person in a manual-labor job is somehow "beneath" notice and not worthy of respect. I SPIT on all those who would treat a service person like a second-class citizen! Ptooey!
4. Reward them according to their merits.
Hey, if that server did their job as they were supposed to do it, then give them a proper tip! They bust their butts to give you a nice, enjoyable, pleasant meal, and they deserve comensurate compensation for their work. If they did an OUTSTANDING job, don't just leave a few bucks on the table, TELL them that they did an outstanding job. After all, everybody can use a compliment now and then, right? And if they did a REALLY OUTSTANDING job, tell the manager - a few compliments can help out on the server's yearly reviews and salary evaluations! Wouldn't you like to get a nice raise if you did a great job?
4A. If it ain't their fault, don't blame them!
If the kitchen is a shambles, or it took a long time to get seated, or the table next to you was loud and obnoxious all night, don't use that flimsy excuse to leave a crappy tip - none of that is the server's fault. Hold them responsible only for their own actions, just as you should be held responsible only for your own.
And most importantly, have a nice day!
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I have waited tables and most people in my family have, too. I would never stiff someone. If I am getting poor service, I would communicate my disappointment to the server and then management. Sometimes servers get buried by something in the kitchen or being overseated, etc., there are ways to turn around a poor dining experience, while you are dining.

There really is no reason to ever stiff a server, imo.
Communicating dissatisfaction to a server is a crapshoot; many servers will take it with aplomb, apologize, and try really hard to do a better job.
But some would resent being told by some jerk customer that they are doing a bad job. How DARE they! I'm going to avoid their table for the rest of their meal; they're going to tip badly anyway, so who cares?
Personally, I communicate my dissatisfaction by tipping less for poor service. Tipping less keeps it between you and the server; complaining to the manager puts a blight on someone's record, so that if they really are just having a bad night, they'll get the idea after a few bad tips - but one bad night, with several complaints, can lead to official reprimands on their employment record or even termination.
Waiting is hard work.
It may not look like it to the patron sitting there, but it really is.
Unless you have been a waiter you probably don't understand.
I don't like the way the restaurant industry is set up, but when I walk into a restaurant I feel obligated to tip the server.
Tips are part of their pay since without tips they make about $2.00 an hour.
Would you work for $2.00 an hour?
Not tipping the server is stealing.
You are sitting at their table consuming their time and keeping them from having a paying customer.
If the service is so bad that you feel justified in withholding a 15% tip, then you should have talked to the manager before the meal was over.
Consider the waiter's tip part of the cost of a meal before you go into a restaurant. If you don't want to tip, then get takeout or counter service or eat at home.
Having a difficult job is no excuse for doing your job poorly. ALL waiters have a difficult job, but some of them do it with consumate skill and a positive attitude, while others get grumpy and apathetic, then complain about how thier tips are not sufficient to pay their bills. Well, too bad; if you do your job so poorly that you can't make a living at it, maybe you're in the wrong business.
And except in those cases where it's added to the bill automatically by management, a tip is not mandatory - it's not required by law or contract, therefore witholding it is not stealing, not a crime, and not wrong - as long as there is a good reason for witholding it, like poor service.