Context: Ubiquitous devices and pervasive environments are in permanent interaction in people's daily lives. In today's hyper-connected environments, it is necessary for these devices to interact with each other, transparently to the users. The problem is analyzed from the different perspectives that compose it: SOA, service composition, interaction, and the capabilities of ubiquitous devices. Problem: Currently, ubiquitous devices can interact in a limited way due to the proprietary mechanisms and protocols available on the market. The few proposals from academia have hardly achieved an impact in practice. This is not in harmony with the situation of the Internet environment and web services, which have standardized mechanisms for service composition. Aim: Apply the principles of SOA, currently standardized and tested in the information systems industry, for the connectivity of ubiquitous devices in pervasive environments. For this, a coordination framework based on these technologies is proposed. Methodology: We apply an adaptation of Design Science in our environment to allow the iterative construction and evaluation of prototypes. For this, a proof of concept is developed on which this methodology and its cycles are based. Results: We built and put into operation a coordination framework for ubiquitous devices based on WS-CDL, along with a proof of concept. In addition, we contribute to the WS-CDL language in order to support the characteristics of specific ubiquitous devices.