public class FooBarVm
{
    public int id { get; set; }
    public BarRecord bar { get; set; }
    public string foo { get; set; }
}

Mapper.CreateMap<FooBarRecord, FooBarVm>()
    .ForMember(s => s.bar, m => m.MapFrom(rec => rec.bar))
    //other columns - those are OK
;