Multicore and multiprocessor systems with dynamic voltage scaling architectures are being used as one of the solutions to satisfy the growing needs of high performance applications with low power constraints. An important aspect that has propelled this solution is effective task/application scheduling and mapping algorithms for multiprocessor systems. This work proposes an energy aware, offline, probability-based unified scheduling and mapping algorithm for multiprocessor systems, to minimize the number of processors used, maximize the utilization of the processors, and optimize the energy consumption of the multiprocessor system. The proposed algorithm is implemented, simulated and evaluated with synthetic task graphs, and compared with classical scheduling algorithms for the number of processors required, utilization of processors, and energy consumed by the processors for execution of the application task graphs.