Aerocapture is expected to reduce the cost of the interplanetary exploration in the future because it utilizes aerodynamic drag to decelerate the vehicle rather than fuel-costly chemical propulsion. However, aerocapture mission involves lots of complicated difficulties such as quite narrow entry path angle, excess aerodynamic heating, aerodynamic load, and various uncertainties. It requires high levels of control technique and aerodynamic characteristics prediction. In this paper, the results of the simultaneous optimization of the flight control and aerodynamic shape for Mars aerocapture vehicle are presented. To maximize the payload mass, fuel mass for orbital transfer and TPS mass must be minimized. For this purpose, objective functions are set as follows: 1) minimize the delta-V for orbit insertion, 2) minimize the total heat load, 3) minimize both the delta-V and total heat load. Firstly, optimization was conducted only for the flight control, assuming the fixed aerodynamic shape and entry path angle. Secondary, simultaneous optimization was conducted. As a result, trade-off between delta-V and total heat load was clarified. Moreover, by executing simultaneous optimization, the guideline of designing aerocapture, which can minimize the objective function in each case 1)-3), was obtained.