Reconfigurable intelligent surfaces (RISs) are a promising technology for sixth-generation (6G) wireless networks. However, a fully passive RIS cannot independently process signals. Wireless systems equipped with it often encounter the challenge of large channel matrix dimensions when acquiring channel state information using pilot-assisted algorithms, resulting in high pilot overhead. To address this issue, this article proposes a semi-blind joint channel and symbol estimation receiver without a pilot training stage for RIS-aided multiple-input multiple-output (MIMO) (including massive MIMO) communication systems. In a semi-blind system, a transmission symbol matrix and two channel matrices are coupled within the received signals at the base station (BS). We decouple them by building two parallel factor (PARAFAC) tensor models. Leveraging PARAFAC tensor decomposition, we transform the joint channel and symbol estimation problem into least square (LS) problems, which can be solved by Alternating Least Squares (ALSs). Our proposed scheme allows duplex communication. Compared to recently proposed pilot-based methods and semi-blind receivers, our results demonstrate the superior performance of our proposed algorithm in estimation accuracy and speed.