This paper presents a novel multicast routing protocol for mobile ad hoc wireless networks. The protocol, termed ODMRP (On-Demand Multicast Routing Protocol), is a mesh-based, rather than a conventional tree-based, multicast scheme and uses a forwarding group concept (only a subset of nodes forwards the multicast packets via scoped flooding). It applies on-demand procedures to dynamically build routes and maintain multicast group membership. ODMRP is well suited for ad hoc wireless networks with mobile hosts where bandwidth is limited, topology changes frequently, and power is constrained. We evaluate ODMRP's scalability and performance via simulation.