— In this article we tackle the problem of scheduling a dynamically generated DAG of multi-processor tasks (M-tasks). At first, we outline the need of such a scheduling approach in the context of TGrid. TGrid is an M-task runtime system for heterogeneous clusters. Then, we propose a dynamic scheduling algorithm called Reuse Processors Algorithm (RePA). The main objective of RePA is to reduce the communication and redistribution costs by trying to map child tasks to processors which are assigned to parent tasks (reuse processors). The algorithm is implemented using the SimGrid toolkit and is evaluated by comparing the makespan of the schedules produced by RePA and M-HEFT.