In this paper, we present a geometric discretization scheme for incompressible linearized elasticity. We use ideas from discrete exterior calculus (DEC) to write the action for a discretized elastic body modeled by a simplicial complex. After characterizing the configuration manifold of volume-preserving discrete deformations, we use Hamilton's principle on this configuration manifold. The discrete Euler-Lagrange equations are obtained without using Lagrange multipliers. The main difference between our approach and the mixed finite element formulations is that we simultaneously use three different discrete spaces for the displacement field.