Large military ad hoc networks are often characterized by the interconnection of heterogeneous domains. The same trend is emerging in civilian MANETs (e.g., search and rescue, vehicular networks). In these networks it is important to be able to efficiently propagate information across domains in multicast mode (e.g., situation awareness dissemination, commands, streams). Several multicast protocols have been developed for single domain MANET. However, few can be extended to inter-domain operation. In fact, multicast routing across different MANET domains faces the challenges of node motion, topology changes, dynamic gateway election and, possibly, connectivity interruption. To overcome these challenges, especially to achieve routing scalability and at the same time maintains efficient routing, this paper proposes the Geo-assisted Multicast Inter-domain Routing (GMIDR) protocol based on geographical assistance and cluster technology. Intensive simulation results show that the GMIDR protocol is scalable and stable with various numbers of multicast group members, and it outperforms other multicast protocols. Geocast by applying GMIDR shows the flexibility of the protocol.