Finding a connection path that remains stable for suciently longer period is critical in mobile ad hoc networks due to frequent link breaks. In this paper, an on-demand Quality of Service (QoS) and stability based multicast routing (OQSMR) scheme is proposed, which is an extension of ad hoc on-demand multicast routing protocol (ODMRP) to provide QoS support for real time applications. The scheme works as follows. Each node in the network periodically estimates the parameters, i.e., node and link stability factor, bandwidth availability, and delays. Next step is creation of neighbor stability and QoS database at every node by using estimated parameters. The last sequence is multicast path construction by using, route request and route reply packets, and QoS and stability information, i.e., link/node stability factor, bandwidth and delays in route information cache of nodes, and performing route maintenance in case of node mobility and route failures. The simulation results indicate that proposed OQSMR demonstrates reduction in packet overhead, improvement in Packet Delivery Ratio (PDR), and reduction in end-to-end delays as compared to ODMRP, and Enhanced ODMRP (E-ODMRP).