A regular indian would tip the restaurant and maybe the driver if the car was assigned to him personally during the time. Taxis sometimes have their fare rounded off if he was quick to get you someplace or if you only drive for a short distance after hailing him out of a queue at the airport or train station.

At restaurants 10% is for really good service, otherwise just round off. I've noticed that in some restaurants they often just skipped the coins on the return change, expecting me to leave the change anyway. Now this I hate and make it a point to call the guy in charge.

Drivers get 100 INR. Service people in india KNOW the tip is for extra service and not a given. In US you tip because the persons get minimum wage and the tip is part of their pay. Don't forget that.