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We propose a dynamic joint call admission control scheme for heterogeneous cellular networks. The objectives of the JCAC scheme are to uniformly distribute traffic load among available RATs, guarantee the QoS requirements of all accepted call, prioritize handoff calls over new calls, and keep handoff call dropping probability close to a target value. We develop a Markov chain model for the JCAC scheme and derive new call blocking probability and handoff call dropping probability. Results of the proposed dynamic JCAC scheme are compared with that of a static load-based JCAC scheme. Results show that connection-level QoS can be significantly improved by using the dynamic JCAC scheme.