This letter introduces a joint design method for uplink-downlink multiple-input multiple-output (MIMO) relay communication systems in which the source nodes transmit information to the destination nodes with the help of a relay. We propose a signal forwarding schceme based on the minimum mean-square error (MMSE) approach in uplink relay systems. Exploiting the duality of relay systems, we also propose a relaying scheme for downlink relay systems. Simulation results confirm that the proposed joint design method improves the performance of the relay systems compared with that of conventional relaying schemes in uplink and downlink MIMO relay systems.