Originated from the linguistic root “hospitality,” the term “hospice” in medieval time referred to an oasis for the weary on a long enervating journey. Created by Dr. Dame Cicely Saunders in 1948, hospice today is far more beyond a facility for terminally ill patients— it now stands for a mission, applying evidence-based knowledge and employing the state of- the-art technology, a specialized care to ease patient suffering, provide comfort, and help find peace and dignity at the end of life. The goal is to meet not only physical, but also psycho-social, spiritual and cultural needs of both dying patients and their families. Pioneered in 1967, palliative care in Taiwan has evolved and modified through time to include modern societal meanings, yet the mission to center on ultimate humanity remains. Medical futility, however, as a well-established basis for withdrawing and withholding life-sustaining treatment, continues to be an ongoing clinical controversy that complicates the time point Taiwanese initiating hospice/palliative care. In addition, in the past decade the dying population who received palliative care has enlarged to comprise not only cancer patients but also that of other diseases. Palliative care in the new era quickly progresses and the innovative service of psycho-oncology emerges as well. In accordance with the recent third reading of Hospice Palliative Care Regulation Amendment, the government-promoted “Advance Care Planning” helps clarify patients’ medical preference, reduce futile possibilities, and further ensure their dignity and quality of death. While there are expected challenges and certain cultural barriers on the way for each Taiwan citizen to achieve “a good death,” palliative care providers shall persist with their efforts to complete this mission.