Currently, an important topic of robotic research is tile design and development of ’service robots'. These devices shall work autonomously or in cooperation with hmnans in a dynamic, relatively unstructured environment like households or offices. A crucial component of such systems is the programming interface. Programming methods have to be developed that enable an operator who is not a programming expert to easily instruct the robot. Progranmdng by Demonstration (PbD) offers a way to accomplish this task. hi this paper, we describe the resldts of two research projects that dealt with the application of PbD in the fiehi of robotics. Furthermore, we outline the design methodology for an int(,grated system providing an interactive robot programming interface based on demonstrations and the analysis of user intentions.