This paper develops an efficient index modulation (IM) approach for the joint radar-communication (JRC) system based on a multi-carrier multiple-input multiple-output (MIMO) radar. The communication information is embedded into the transmitted radar pulses by selecting the corresponding indices of the carrier frequencies and antenna allocations, providing two degrees of freedom. Our contribution involves the development of a novel codebook based minimum Euclidean distance (MED) maximization and a constellation randomization pre-scaling (CRPS) scheme for efficient IM-JRC transmission. It can be inferred that the IM approach integrating the CRPS scheme followed by the codebook design maximizes the signal-to-noise ratio gain. The numerical results support the effectiveness of the proposed approach and show enhanced bit error rate performance when compared to the existing baseline.