Application and adaptation of different types of controllers to helicopters become more important in terms of stability and mission. As the helicopters are very dynamic vehicles and there are more parameters than any other dynamical system to consider its stability, control and mode shift during hover, forward flight, and maneuvers, their controller design become a challenging problem for the designers. In this paper, a Model Reference Adaptive Control design (MRAC) method is proposed such that the reference model is a helicopter dynamics which is pre-controlled ( stable) one by means of gain scheduling technique. The helicopter, whose dynamics are not known exactly, is considered to be the plant in the MRAC design and its outputs are regulated to follow the response of the reference helicopter model. The success of the proposed control approach is illustrated by means of simulations in the MATLAB. SIMULINK. environment.