Previous routing algorithms for mobile ad-hoc networks (MANETs) have focused on finding short-distance path(s) between communicating nodes. However, due to the dynamic and unreliable communication nature of MANETs, previously determined paths can easily become disconnected. Although dynamic routing can be used to circumvent this problem, determining a new route each time a packet needs to be sent involves a lot of overhead. An alternative form of dynamic routing involves maintaining valid routes in routing tables, which can be dynamically updated whenever network changes are detected. This paper proposes a new routing algorithm, referred to as pseudo-distance routing (PDR), that supports efficient routing table maintenance and dynamic routing based on such routing tables.