The Header
To: Contains a display name and URI (Uniform Resource Identifier) of the destination UA (user agent) or endpoint.
From: Contains a display name and URI of the UA that's sending the request.
Contact: Information needed so the destination UA can contact the requesting UA once a call is set up.
Via: Contains the version of SIP and the transport protocol to be used. Also includes an IP address to ensure the sender receives responses to its requests. Each proxy server in a call puts its IP address in the via field so responses get routed through it.
Commands
INVITE: Main command used by SIP to make a call to another endpoint.
REGISTER: Used by a SIP endpoint to inform a register server of its current location.
Servers
Proxy Server: Makes requests and sets up connections on behalf of a UA.
Redirect Server: Provides alternative location information to a UA in response to a request, but doesn't participate in the connection setup.
Registration Server: Used by a SIP device, such as a phone, to register its current location.
Location Server: Stores location information in a database. Usually runs on the same physical server as the registration server.