If you don't need the features of the WS-* series of protocols; if you don't need self-describing services; if your service cannot be completely described as resources, as defined by the HTTP protocol; if you don't like having to author XML for every interaction with the service, and parse it afterwards; then you need SOAP.
Otherwise, sure, use REST.
There's been some question about the value of a self-describing service. My imagination fails me when it comes to imagining how anyone could fail to understand this. That's on me. Still, I have to think that anyone who has ever used a service much more complicated than "Hello, world" would know why it is valuable to have someone else write the code that accepts parameters, creates the XML to send to the service, sends it, receives the response, then turns that back into objects.
Now, I suppose this might not be necessary when using a RESTful service; at least not with a RESTful service that does not process complex objects. Even with a relatively simple service like http://www.earthtools.org/webservices.htm (which I've used as an example of calling a RESTful service), one benefits from understanding the structure of the returned data. Even the above service provides an XML Schema - it unfortunately doesn't describe the entire response. Given that schema one still has to manually process the XML, or else use a tool to produce serializable classes from the schema.
All of this happens for you when the service is described in a WSDL, and you use a tool like "Add Service Reference" in Visual Studio, or the svcutil.exe program, or I-forget-what-the-command-is-in-Eclipse.
If you want examples, start with the EarthTools services, and go on to any other services with more complicated messaging.
BTW, another thing that requires self-description is description of the messaging patterns and protocols supported by the service. Perhaps that's not required when the only choices are HTTP verbs over HTTP or HTTPS. Life gets more complicated if you're using WS-Security and friends.