We propose linear precoders which jointly minimize the mean-squared error of estimated symbol at the destination node for cooperative multiple-input multiple-output communication systems. Unlike the existing precoders which require high computational complexity to solve the optimization problem on the direct link, the proposed precoder is expressed in a closed-form. Simulation results show that the proposed precoder outperforms the existing precoders in the low SNR region. Moreover, we observe that the proposed iterative algorithm is not sensitive to the initial matrices.