In this paper, we investigate an adaptive decode-and-forward (DF) cooperative diversity scheme based on bit interleaved coded modulation with iterative decoding (BICM-ID). Data bits are first encoded by using a convolutional code and the coded bits after an interleaver are modulated before transmission. Iterative decoding is used at the receiver. Optimized constellation mapping is designed jointly for the source and the relay using a genetic algorithm. A novel error performance analysis for the adaptive DF scheme using BICM-ID is proposed. The simulation results agree well with the analytical results at high signal-to-noise ratio (SNR). More than 5.8 dB gain in terms of SNR over the existing mappings is achieved with proposed mappings.