In this paper, a heuristic mapping approach which maps parallel programs, described by precedence graphs, to MIMD architectures, described by system graphs, is presented. The complete execution time of a parallel program is used as a measure, and the concept of critical edges is utilized as the heuristic to guide the search for a better initial assignment and subsequent refinement. An important feature is the use of a termination condition of the refinement process. This is based on deriving a lower bound on the total execution time of the mapped program. When this has been reached, no further refinement steps are necessary. The algorithms have been implemented and applied to the mapping of random problem graphs to various system topologies, including hypercubes, meshes, and random graphs. The results show reductions in execution times of the mapped programs of up to 77 percent over random mapping