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In mobile ad hoc networks (MANETs), service composition faces severe challenges such as the lack of central server, node mobility and wireless network failure, which are usually not considered in web service composition on Internet. This paper designs and implements an on-demand service composition protocol for MANETs with consideration of quality of service (QoS). Based on the well-known Dynamic Source Routing (DSR) protocol, we construct various control messages for discovering, invoking and maintaining composite services, and use a distributed message processing flow for handling and transmitting the service composition messages. In our experiments, the proposed protocol has been implemented based on Jist/Swans ad hoc network simulator.