I wont speak for the rest of Europe but in the UK you do tip... of you want to. The deference being you don't haveto, I'm pretty sure in the US you have to tip by law.
I don't know why he said Europe because every country is going to be different. I guess the confusion is coming from the fact that its optional. If the service was good tip. If it wasn't good don't tip. Its that simple.
I had figured out Elizabeth was your daughter, but for me it was finding out how the things played out in Bookers past rather than her being your daughter that I found much more interesting, if that makes sense.