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Context-sensitive systems are flexible, capable of acting autonomously on behalf of users and to dynamically adapt their behavior. This work proposes a systematic process to derive the behavior of context-sensitive systems from contextual goal models considering the impact of non-functional requirements (NFRs). This process is centered on the incremental refinement of a goal model, obtaining different views of the system (design, contextual, and behavioral). A key contribution of this work is the Behavioral Contextual Design Goal Model, which depicts in a single artefact the operationalization of NFRs, the adaptation and the monitoring tasks.