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In this letter, a novel data-pilot multiplexing scheme with reduced peak to average power ratio (PAPR) is introduced for single carrier (SC)-orthogonal frequency division multiplexing (OFDM) systems. In the proposed scheme, phases of SCOFDM symbols are rotated adaptively such that PAPR is reduced and circular shifts are introduced in the time domain (TD). To index the amount of phase rotation applied at the transmitter, a sequence of pilot symbols, which is unique for each phase rotation angle, is chosen from a predetermined set and multiplexed with the phase rotated SC-OFDM symbols in the frequency domain. Simulation results indicate that the proposed method can reduce the PAPR dramatically, and yield superior bit error rate (BER) performance compared to conventional methods.