The Internet of Things (IoT) is revolutionizing our environments with novel types of services and applications by exploiting the large number of diverse connected things. One of the main challenges in the IoT is to engineer systems to support human users to achieve their goals in dynamic and uncertain environments. For instance, the mobility of both users and devices makes it infeasible to always foresee the available things in the users’ current environments. Moreover, users’ activities and/or goals might change suddenly. To support users in such environments, we developed an initial approach that exploits the notion of Emergent Configurations (ECs) and mixed initiative techniques to engineer self-configuring IoT systems. An EC is a goal-driven IoT system composed of a dynamic set of temporarily connecting and cooperating things. ECs are more flexible and usable than IoT systems whose constituents and interfaces are fully specified at design time