In most practical applications, ad hoc mobile devices demand the access to wired hosts located beyond the limits of the mobile ad hoc network, forming a heterogeneous wired-cum-wireless network. This interconnection requires a network device known as gateway. The gateway functions as a bridge between the ad hoc environment and infrastructure-based networks, as Internet. We propose in this paper an algorithm for the discovery and selection of gateways and its integration in a routing protocol for mobile ad hoc networks. Our proposed algorithm is based on an adaptive hybrid strategy where the proactive and reactive methods are combined. Consequently, gateways maintain routing information sending advertisement messages to mobile nodes inside a limited range (proactive area). Those nodes located outside that area must execute a reactive gateway discovery process. The size of the proactive area and the frequency of the control messages are dynamically adapted. The simulation results show that our approach achieves better results in terms of packet loss and delay without increasing the routing overhead.