In this paper, we present a new data-aided carrier-recovery method for Continuous Phase Modulation (CPM) signals over frequency-selective channels. We first present a linear model of the received signal based on Mengali representation over selective channels and show how to use it to perform joint channel and carrier-frequency estimation. We also derive a low-complexity version of the estimator. Simulation results show that this method performs better than the optimal method suited to the Additive White Gaussian Noise (AWGN) channels.