This paper presents a new on-demand ad hoc routing protocol, History-Aware Multi-path Routing (HAMR) protocol, which introduces a session history as one of routing metrics. A session history implies how many times and how much duration a node is involved in communication sessions between mobile nodes in a network. The motivation of HAMR is that if a node's session history is higher, the node will be more stable than nodes with lower histories. HAMR supports the establishment of multiple paths, which are selected in consideration for their session histories. HAMR's approach sets the goal at reducing control traffic overhead and route reconfiguration time by decreasing frequent route re-starts due to route failures. We have evaluated the performance of HAMR through a series of simulations using the Network Simulator 2 (ns-2).