The Multicore Association (MCA) is an industry association that defines and promotes open specification to enable multicore product development. The main goal of MCA is to abstract hardware details and offer a portable software solution stack for embedded systems. One of the MCA APIs is Multicore Task Management API (MTAPI), which leverages task parallelism on embedded multicore systems that are comprised of symmetric and asymmetric processors. We have developed a runtime library (RTL) based on MTAPI that allows scheduling and mapping of tasks to the heterogeneous cores of the given platform. Our RTL utilizes Multicore Communication API (MCAPI) to communicate between cores. Our RTL is evaluated on the NVIDIA Jetson TK1 embedded processor comprising ARM and GPU cores.