No / In this paper, the requirements for personal environments mobility are addressed from terminal and network perspectives. Practical mobility and Quality of Service (QoS) aware solutions are proposed for a heterogeneous network, comprising of satellite and terrestrial access networks connected to an IP core network. The aim, in adopting a heterogeneous environment, is to provide global, seamless service coverage to a specific area, allowing access to services independently of location. An important assumption is that nomadic user terminals attached to a particular segment should be able to exchange information with any other terminal connected to the network. This is to ensure transparency of device technology. Different communication scenarios are investigated in support of IPv4 and IPv6 operating on user platforms and over access segments. The heterogeneous network necessitates the need to perform handover between access segments to enable coverage extension and seamless connectivity. Handover procedures are analyzed, and an approach is presented that enables various operation and segment specific parameters to be taken into account when deciding upon the need to perform handover and in selecting the optimum access segment. In order to ensure transparency of network technology, the need for end-to-end QoS support is discussed, bearing in mind the deployment of both IntServ and DiffServ enabled routers in the core network. Following this, a new admission control scheme, named Gauge&Gate Reservation with Independent Probing (GRIP), is proposed. The paper concludes with a description of a laboratory testbed, which has been developed in order to verify the presented procedures, together with performance measurements of the handover and the GRIP algorithms.