This paper presents an autonomic system for composing ubiquitous applications at run-time. The applications are composed according to the user preferences collected via a physical user interface. This interface allows users to specify preferences by simple actions of touching with their mobile terminals icons in the environment, instead of explicitly selecting resources and dealing with their properties. In this paper, we present a system prototype and an example multimedia application. We also evaluate the performance of the prototype and the allocation algorithm which is used to compose applications.