Kahn Process Networks (KPNs) are a widely accepted programming model for MPSoCs. Existing KPN mapping techniques mainly focus on assigning processes to processors. However, with embedded interconnect becoming more complex, communication has started to play an equally important role to that of computation. This paper presents a new KPN mapping algorithm that addresses communication and computation jointly. The algorithm is tested on two platforms with real applications and with randomly generated KPNs. We show that the algorithm finds solutions in situations where bare process mapping fails. It also reduced the average application makespan considerably when compared to previous heuristics.