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A theory is developed for jointly minimizing the symbol error rate (SER) between the desired and decoded signals with respect to the coefficients of the transmitter and receiver FIR multiple-input multiple-output (MIMO) filters. The original source signal is assumed to be a vector source with equally likely memoryless PAM vector components. The channel model constitutes a known FIR MIMO transfer function and Gaussian additive channel noise independent of the original signal. The channel input signal is assumed to be power constrained. When compared to the methods available in the literature, the proposed method yields better results due to the joint optimization of the transmitter-receiver pair.