This paper presents the joint transmitter and receiver design with adaptive beamforming for multiple-input multiple output (MIMO) single carrier-frequency division multiple access (SC-FDMA) systems. Overall signal to interference plus noise ratio (SINR) of estimated symbols is maximized by selecting appropriate transmit power, transmit and receive beamforming weights and frequency domain-linear equalization (FD-LE) weight. Closed-form solutions unveil a symmetric design of the transmitter and receiver. In addition, two suboptimal system designs with closed form solutions are investigated.