You could use a custom adapter (as for a listView):
public class CustomAdapter extends ArrayAdapter<Integer> {
     Activity context;   
     ArrayList<Integer> objects;
     public CustomAdapter(Activity context,  ArrayList<Integer> objects) {
      super(context, R.layout.row, objects);
      this.context = context;
      this.objects = objects;
     }
     @Override
     public View getView(int position, View convertView, ViewGroup parent) {
      if (convertView == null) {
       LayoutInflater inflater = (LayoutInflater) context.getSystemService(Context.LAYOUT_INFLATER_SERVICE);
       convertView = inflater.inflate(R.layout.row, parent, false);
      } 
      ImageView i = (ImageView) convertView.findViewById(R.id.icon);
      i.setBackgroundResource(objects.get(position));
      TextView t = (TextView) convertView.findViewById(R.id.title);
      t.setText("title");
      return convertView;
     }
    }
And of course you will set this it as an adapter for the gridView.
EDIT: Of course instead of ArrayAdapter<Integer> you could be extending ArrayAdapter<YourHolder>.
class YourHolder {
  public int ID;
  public String title;
}
EDIT 2: Adding a functional piece of code.
activity_main.xml
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    tools:context=".MainActivity" >
    <GridView 
        android:id="@+id/grid_view"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:numColumns="3"
        android:gravity="center_horizontal"
        android:horizontalSpacing="10dp"
        android:verticalSpacing="10dp"
        android:padding="10dp"
        android:background="#600000ff"     
        />
</RelativeLayout>
grid_item_layout.xml
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="wrap_content"
    android:layout_height="wrap_content"
    android:orientation="vertical"
    android:background="#6000ff00"
    android:padding="4dp">
    <TextView
        android:id="@+id/label"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="label"
        android:layout_gravity="center_horizontal"/>
    <FrameLayout 
        android:id="@+id/holder"
        android:layout_width="100dp"
        android:layout_height="100dp">
        <ImageView
            android:id="@+id/image"
            android:layout_width="match_parent"
            android:layout_height="match_parent"
            android:scaleType="centerCrop"/>
    </FrameLayout>    
</LinearLayout>
CustomAdapter.class
public class CustomAdapter extends ArrayAdapter<Integer> {
    private Activity context;
    private ArrayList<Integer> objects;
    public CustomAdapter(Activity context, ArrayList<Integer> objects) {
        super(context, R.layout.grid_item_layout, objects);
        this.context = context;
        this.objects = objects;
    }
    @Override
    public View getView(int position, View convertView, ViewGroup parent) {
        if(convertView == null){
            LayoutInflater i = (LayoutInflater) context.getSystemService(Context.LAYOUT_INFLATER_SERVICE);
            convertView = (View) i.inflate(R.layout.grid_item_layout, parent, false);
        }
        TextView t = (TextView) convertView.findViewById(R.id.label);
        ImageView i = (ImageView) convertView.findViewById(R.id.image);
        t.setText("label " + position);
        i.setImageResource(objects.get(position));
        return convertView;
}
MainActivity
public class MainActivity extends Activity {
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        GridView g = (GridView) findViewById(R.id.grid_view);
        CustomAdapter adapter = new CustomAdapter(this, getData());
        g.setAdapter(adapter);
    }
    public ArrayList<Integer> getData(){
        ArrayList<Integer> list = new ArrayList<Integer>();
        list.add(R.drawable.pic1);
        // add 2 - 11
        list.add(R.drawable.pic12);
        return list;
    }
}
Final look:

Note: From my experience when there are a lot of pictures in the gridView scrolling becomes slow and laggy, however it's not the topic of your question, so in case it's also a problem, please see Lazy load of images in ListView