This paper introduces a novel multi-copy routing protocol, called predict and forward (PF), for delay tolerant networks, which aims to explore the possibility of using mobile nodes as message carriers for end-to-end delivery of the messages. With PF, the message forwarding decision is made by manipulating the probability distribution of future inter-contact and contact durations based on the network status, including wireless link condition and nodal buffer availability. In particular, PF is based on the observations that the node mobility behavior is semi-deterministic and could be predicted once there is sufficient mobility history information. We implemented the proposed protocol and compared it with a number of existing encounter-based routing approaches in terms of delivery delay, delivery ratio, and the number of transmissions required for message delivery. The simulation results show that PF outperforms all the counterpart multi-copy encounter-based routing protocols considered in the study.