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In this paper, we propose a novel multi-input multi-output (MIMO) beamforming design towards joint radar sensing and multiuser communication. To characterize the performance of the radar functionality, we derive a closed form of the mean squared error (MSE) for target estimation given a probing signal. Furthermore, we propose to minimize the estimation MSE while guaranteeing the signal-to-interference-plus-noise ratio (SINR) of each communication user. While the formulated optimization problem is non-convex, it can be solved via the semidefinite relaxation algorithm. Finally, numerical results are provided to validate the effectiveness of the proposed approach.