Automated capture and retrieval of experiences at home is interesting due to the wide variety and personal significance of such experiences. We present a system for retrieval and summarization of continuously captured multimedia data from Ubiquitous Home, a two-room house consisting of a large number of cameras and microphones. Data from pressure based sensors on the floor are analyzed to segment footsteps of different persons. Video and audio handover are implemented to retrieve continuous video streams corresponding to moving persons. An adaptive algorithm based on the rate of footsteps summarizes these video streams. A novel method for audio segmentation using multiple microphones is used for video retrieval based on sounds with high accuracy. An experiment, in which a family lived in this house for twelve days, was conducted. The system was evaluated by the residents who used the system for retrieving their own experiences; we report and discuss the results.