Pervasive computing environments such as our future homes are the prototypical example of a dynamic, complex system where Service-Oriented Computing techniques will play an important role. A home equipped with heterogeneous devices, whose services and location constantly change, needs to behave as a coherent system supporting its inhabitants. In this paper, we present a fully implemented architecture for domotic applications which uses the concept of a service as its fundamental abstraction. The architecture distinguishes between a pervasive layer where devices and their basic internetworking live, and a composition layer where services can be dynamically composed as a reaction to user desires or home events. Next to the architecture, we also illustrate a visualization and simulation environment to test home coordination scenarios. From the technical point of view, the implementation uses UPnP as the basic device connection protocol and techniques from Artificial Intelligence planning for composing services at runtime.