A multicast communication method is disclosed that includes the steps of: (a) transmitting a position registration request including multicast join request information from a mobile node to a network; (b) receiving the position registration request, performing position registration, and setting session information data for performing a multicast communication in a home agent connected to the network; and (c) encapsulating a multicast packet and forwarding the multicast packet to an optimal forwarding destination on the network to which the mobile node to join the multicast communication is connected based on the session information data in the home agent that has received the multicast packet from the network.