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Mobile ad hoc network (MANET) is a multi-hop wireless network formed by a collection of mobile nodes without any fixed infrastructure. The primary concerns in MANETs are bandwidth limitation and unpredictable dynamic topology. Reliable multicast plays a significant role in many applications of MANETs. Also efficient bandwidth utilization is crucial in routing protocols. The on-demand multicast routing protocol (ODMRP) was designed for multicast routing in MANETs. In this paper, we propose a new method for estimating bandwidth in multicast protocols and also a new technique for supporting QoS routing in ODMRP by making an acceptable estimation of available and required bandwidth. Also we propose a local recovery approach to design a reliable multicast algorithm. Simulation results show that using QoS routing for ODMRP improves network performance in presence of mobility.