Ad-hoc wireless networks consist of mobile nodes interconnected by multi-hop wireless paths. Unlike conventional wireless networks, ad-hoc networks have no fixed network infrastructure or administrative support. Because of the dynamic nature of the network topology and limited bandwidth of wireless channels, Quality-of-Service (QoS) provisioning is an inherently complex and difficult issue. In this paper, we propose a fully distributed and adaptive algorithm to provide statistical QoS guarantees with respect to accessibility of services in an ad-hoc network. In this algorithm, we focus on the optimization of a new QoS parameter of interest, service efficiency, while keeping protocol overheads to the minimum. To achieve this goal, we first theoretically derive the lower and upper bounds of service efficiency based on a novel model for group mobility, followed by extensive simulation results to verify the effectiveness of our algorithm.