Sensor networks are wireless adhoc networks where all the nodes cooperate for routing messages in the absence of a fixed infrastructure. Non-flooding, guaranteed delivery routing protocols are preferred because sensor networks have limited battery life. Location aware routing protocols are good candidates for sensor network applications, nevertheless they need either an external location service like GPS or Galileo (which are bulky, energy consuming devices) or internal location services providing non-unique virtual coordinates leading to low delivery rates. In this paper we introduce Position Trees a collision free, distributed labeling algorithm based on hop counting, which embed a spanning tree of the underlying network . The Routing with Position Trees (RTP) is a guaranteed delivery, non-flooding, efficient implicit routing protocol based on Position Trees. We study experimentally the statistical properties of memory requirements and the routing efficiency of the RPT.