Samsung SCH-I515MSAVZW - Manual (Page 51)

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You'll also want to add SIP addresses for the contacts you want to call this way. To do so:
1 Touch the contact's info in the Call log tab .
2 Touch to go to the contact's card.
3 Touch the Menu icon , then Edit.
4 Scroll to the bottom of the screen, touch Add another field, and then Internet call.
5 Touch the Internet call field and type the number.