Ubiquitous computing aims to embed small computing devices throughout the environment to make computing invisible and integrated into everyday objects. While this could make objects more useful by giving them sensing and processing abilities, it also raises major privacy concerns. Six principles are proposed to address privacy in ubiquitous computing: notice, choice and consent, anonymity and pseudonymity, proximity and locality, adequate security, and access and recourse. Proper implementation of these principles through system design could help balance privacy and functionality in an increasingly digital world.