Neutron scattering is used to probe antiferromagnetic spin fluctuations in the d-wave heavy fermion superconductor CeCoIn$_{5}$ (T$_{c}$=2.3 K). Superconductivity develops from a state with slow ($hbarGamma$=0.3 $pm$ 0.15 meV) commensurate (${bf{Q_0}
}$=(1/2,1/2,1/2)) antiferromagnetic spin fluctuations and nearly isotropic spin correlations. The characteristic wavevector in CeCoIn$_{5}$ is the same as CeIn$_{3}$ but differs from the incommensurate wavevector measured in antiferromagnetically ordered CeRhIn$_{5}$. A sharp spin resonance ($hbarGamma<0.07$ meV) at $hbar omega$ = 0.60 $pm$ 0.03 meV develops in the superconducting state removing spectral weight from low-energy transfers. The presence of a resonance peak is indicative of strong coupling between f-electron magnetism and superconductivity and consistent with a d-wave gap order parameter satisfying $Delta({bf q+Q_0})=-Delta({bf q})$.
