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Attach values from polygons to points

Hi,

I am working with two shapefiles in R; one is a point.shp the other is a 
polygon.shp. Now, I would like to intersect/join/attach all the values 
from the polygon to the table of the point.shp.

I tried overlay() and spRbind in package sp, but nothing did what I 
expected them to do.

Could anyone give me a hint how I can combine both shapefiles?

Thank you!
Jens