The other day I was in my car listening to my favorite morning talk show, and they do this bit called "first date update". Listeners call in who went out on a date with someone that never returned their call afterward, the hosts talk about it with them, and then they get the other person on the phone too. This particular day, a young woman went out with a man, and everything was great except for one thing at the end of the date: he didn't tip their waitress.
Surprisingly, there are a lot of people who think that you shouldn't have to tip when you go out to eat. Some people feel so strongly about it that they will argue with you until their faces turn blue. However, tipping at dinner is an absolute must whether you are on a date or eating alone.
Federal law mandates that waiters' and waitresses' salaries be at least $2.13/hour, and should combine with tips to equal at least $7.25/hour. Without tips, making $2.13/hour over the span of an eight-hour shift can total only $17.04. This isn't rocket science, it's math-really easy math that your average third grader is capable of figuring out.
Bottom line is, you are receiving a service from another person, try to be considerate and leave a 20% tip. If you've never worked in the service industry and still don't get it, maybe try working part-time at a restaurant and see how you feel after dealing with customers all day. Props to waiters and waitresses everywhere for doing what you do.