Go to the "Firefox" menu in the top left, then click "Preferences." Go to the "Content" tab, and hit the button at the bottom that says "Manage." In the search field at the top, type "pdf." (I split off in my directions at this point, so read whichever paragraph applies to you.)
If you see anything in the box below, select it and hit the "Change Action" button, then click the second radio button. It will ask you to select an application. Navigate to Acrobat and hit OK.
If you don't see anything in the box below after your search, double click the list (with nothing in it, of course.) It will ask you to select an application. Navigate to Acrobat and hit OK.