We propose an algorithm for jointly performing registration point selection and interactive, rigid, surface-based registration. The registration is computed using a particle filter that outputs a sampled representation of the distribution of the registration parameters. The distribution is propagated through a point selection algorithm derived from a stiffness model of surface-based registration, allowing the selection algorithm to incorporate knowledge of the uncertainties in the registration parameters. We show that the behavior of target registration error improves as the quality measure of the registration points increases.