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In this paper, we consider a multicasting multiple-input multiple-output (MIMO) relay system where the transmitter multicasts a common message to multiple receivers with the aid of a relay node, all equipped with multiple antennas. Given the power constraints at the source and the relay nodes, we aim at minimizing the maximal mean-squared error (MSE) of the signal waveform estimation among the destination nodes through joint source, relay, and receiver matrices optimization. We provide a low complexity solution to this highly nonconvex optimization problem. In particular, we show that under the (moderately) high signal-to-noise ratio (SNR) assumption, the joint source and relay optimization problem can be solved using standard semidefinite programming (SDP) technique. Numerical simulations provided demonstrate the effectiveness of the proposed algorithm.