All you need to do to make SIP calls right on your Nexus S is log into your SIP account and enter your credentials given to you by your VoIP provider, such as StanaCard. You can enter the SIP address directly into your contacts list, so when you click on the contact you can choose if you want to place a SIP call or a regular call.
For instructions on how to set up your SIP account on the Nexus S and how to use the contact list to make direct SIP calls, please watch the video below.
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