The Session Initiation Protocol (SIP) is a Voice over Internet Protocol (VoIP), which allows video and voice calls to be made over the Internet. SIP calls are made through a software client known as a "SoftPhone", or a special device known as a "VoIP phone". Just copy & paste the full SIP address into your SIP SoftPhone or VoIP phone (the URI to precede the address is "sip:"). Below are addresses to various free public access SIP servers.
[IANA Port assignment = 5060]


SIP Servers - (listed by service)