A new cross-layer routing protocol, named Dynamic Packet Guidance (DPG), is introduced for Mobile Ad hoc Networks (MANETs). Simulation results show that DPG is quite useful for usage in dense networks of mobile nodes, with medium-to-high speeds, and low-to-medium load. In these scenarios, DPG provides a superior performance compared to several well-known ad hoc routing protocols. The low end-to-end delay and smaller overhead that DPG achieves in such scenarios positively impacts the scalability of MANETs and reduces the energy requirements of nodes in such networks. DPG also shows immunity to failing nodes, as it operates consistently almost independently of failing nodes up to a certain ratio.