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Vehicular Ad Hoc Networks (VANETs) have received considerable attention in recent years. VANETs provide many services and applications such as Internet access Voice over Internet Protocol (VoIP) and information dissemination. Due to dynamic changes in the network topologies, various routing protocols have been studied in the vehicular environments. However, the communications between source and destination vehicles involve many intermediate vehicles, and due to the high mobility of vehicles, these communication links become disconnected. In this paper, we propose a distributed routing protocol in VANETs with the help of roadside units (RSUs). The proposed scheme includes vehicle registration, finding the location of destination vehicle and the handover maintenance. The simulation results show that our proposed protocol is suitable for vehicles communications in VANETs.