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Mobile ad hoc networks are becoming important and widely available due to its self-organized network characteristics. In this paper, we propose a reliable and energy-efficient routing approach which considers both reliability of selected route for delivered packets and energy utilization in mobile ad hoc networks. The proposed routing mechanism will adaptively select routes using minimum cost routing and reputation routing schemes based on network condition to keep the network lifetime and maintain the ratio of successfully delivered packets over a given threshold. In our minimum cost routing scheme, we introduce a new cost function incorporating the energy consumption and residual battery level for route selection to avoid malicious nodes. Simulation results show that the proposed method can achieve high ratio of successfully delivered packets using low average energy consumed per delivered packets as well as keep the network lifetime.