I came across this document today. This document represents as a slide show, of the SIP examples outlined in chapter 4 (overview of operation) and detailed in chapter 24 (examples) of RFC 3261 — SIP: Session Initiation Protocol.
Having a document like this handy when I first read RFC 3261 an year back could have saved me a lot of time trying to digest things clearly. I think going through this link is an absolute must for anyone who is reading the RFC 3261.