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Nowadays, there is an important effort in the research community to connect mobile devices in ad hoc networks with the Internet. In order to allow the connectivity to the Internet, a gateway that supports the wired single-hop and wireless multi-hop approaches is necessary. The wireless node, as laptops or personal digital assistants, must select the best gateway from the information that these elements send in the modified router advertisement (MRA) messages. The frequency of MRA messages generation by the Internet gateway clearly affects the network performance. In this paper, we propose an adaptive Gateway discovery scheme that dynamically adjusts the frequency of MRA messages and improves the conventional proactive schemes. The proposed scheme makes use of the mobility and connectivity properties of the network to tune the control system that sends the MRA messages.