This paper presents a joint linear processing scheme for two-hop and half-duplex distributed amplify-and-forward (AF) relaying networks with one source, one destination and multiple relays, each having multiple antennas. By using the minimum mean-square error (MMSE) criterion and the Wiener filter principle, the joint relay and destination design with perfect channel state information (CSI) is first formulated as an optimization problem with respect to the relay precoding matrix under the constraint of a total relay transmit power. The constrained optimization with an objective to design the relay block-diagonal matrix is then simplified to an equivalent problem with scalar optimization variables. Next, it is revealed that the scalar-version optimization is convex when the total relay power or the second-hop SNR (signal to noise ratio) is above a certain threshold. The underlying optimization problem, which is non-convex in general, is solved by complementary geometric programming (CGP). The proposed joint relay and destination design with perfect CSI is also extended for practical systems where only the channel mean and covariance matrix are available, leading to a robust processing scheme. Finally, Monte Carlo simulations are undertaken to demonstrate the superior MSE (mean-square error) and SER (symbol error rate) performances of the proposed scheme over the existing relaying method in the case of relatively large second-hop SNR.