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We had lunch in that London yesterday, and it was very good. Apart from the waitress being a little surly, and taking our meal to the wrong table.
When the bill came it had a £7.80 service charge included. I asked the waitress to take it off and she said she would have to ask her manager. She duly came back with a fresh bill, and asked if what was my problem with the service. I explained that I often leave a tip, but I didn't like the way they'd added it to my bill without asking.
If someone goes out of their way to make you feel welcome and enjoy your meal, then they deserve a tip, but for restaurants to add it on is just a racket surely?