In the context of product customization, customers and manufacturers are often unable to accurately articulate need and solution information. This paper takes product configuration as a process of collaborative design and introduces negotiation as a new method to support interactive decision making. A general framework for negotiation-based configuration is developed based on negotiation analysis and the domain concept of axiomatic design. Product configuration is formulated as two interdependent goal programming problems between customers and manufacturers. An interactive problem solving procedure is also developed to implement the proposed methodology.