Single point, sender based control does not scale well for multicast delivery. For applications, such as group video or teleconferencing a low total cost multicast tree is required. In this article we present a destination driven algorithm to minimize the total tree cost of multicast tree in a dynamic situation for the whole session duration. In this heuristic approach we considered the staying duration of participants are available at the time of joining. The performance of our algorithm is analyzed through extensive simulation and evaluated against several other existing dynamic multicast routing and also against one well known near optimum heuristic algorithm used for solving Steiner tree problem. We have further tested our algorithm using erroneous information given by the joining participants. Simulation results show that its performance does not degrade that much even when the range of error is considerably high, which proves the robustness of our algorithm.