In an era of continuously shrinking technology and escalating power density, Multiprocessor System on Chips (MPSoCs) suffer from a growing prominence of device defects and increase of dependability-related issues. This paper tackles the dependability challenge by suggesting an adaptive reliability enhancement strategy for multicore systems. We dynamically adapt the reliability enhancement to the actual tasks requirements as well as cores runtime operating conditions. As reliability improvement may adversely affect the parameters of embedded systems, we suggest a runtime recovery method. In fact, we implement a 3-mode mapping technique to limit redundancy overheads through judicious task migrating and dropping. Our experiments show promising results in terms of error mitigation with controllable power and thermal overheads.