Tips are not expected nor mandatory. However, they are certainly appreciated by our drivers for a job well done.
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So no, you are not required to tip your charter bus driver in the U.S., but tips are seen as a common courtesy. Gratuity will always be appreciated and can be a great way to show your appreciation for a job well done.
There are exceptions if your specific tour experience includes gratuities or you simply didn't have a good time, but in general, tipping your guide at the end of the tour is customary in the U.S. and Europe, though it's much more common in the States.
If I arrange for a driver for the day or days and then get a tour guide for a specific part, I tip them separately as each was hired separately. In many cases, the tour guide IS the driver so only one tip.
For intracity or intercity buses (like Greyhound), we usually do not tip for his driving services. But if he somehow helps you load or unload luggage from the belly of the bus, then you can tip a little. But if it is a tour bus that takes you sightseeing at multiple locations, it is a different ball game.
While it is not required, leaving a tip for your driver is always encouraged and appreciated, especially if you're happy with the service you received.
If you are taking a hop-on-hop-off bus, there will usually be a tip jar at the front of the bus for you to leave something at your own discretion. However, most other walking tour guides in London earn a fee for leading a tour.
Remember, tipping is a way to show appreciation for the services provided by hotel shuttle drivers. While there are no hard and fast rules regarding the exact amount to tip, a general guideline is to tip around $1-2 per person for a short ride and $2-5 per person for a longer ride.
If you receive exceptional service, 20-25% is customary. In major cities of the U.S. however, 20% is considered to be a good tip. Note: In most larger restaurants in the USA, the server has to pay back a portion of their tips to the bartender, busser, hostess, and food runners.
About.com has a Tipping Guide for travelers that further suggests that the tour guide should receive a tip of 10% to 20% of the tour cost. As a last thought, the guide still needs to earn his or her tip. Just with any other profession, the tip should match the level of service.
Unlike some countries you do not have to tip in the UK. However, there are some unsaid social rules about leaving a tip. For example, if you take a taxi it is normal practice to round up the fare to the nearest pound.
In the UK any tip is completely discretionary and drivers will be grateful for any amount. However, if you'd like some guidance on the kinds of tips drivers often receive here's a brief guide: Did the chauffeur offer a good but unexceptional service? – Tip 10 percent.