In this paper, a master-slave control system is proposed and implemented for the lower limb rehabilitation robot with pedal-actuated exoskeleton with the aim of coordinating motion of the exoskeleton and wheelchair. The rehabilitation system is designed to let users to walk around and exercise simultaneously. Particularly, the master motion is started by the users intend and the slave motion is activated by the motion of the exoskeleton along with users legs and the motion of the wheelchair. The results of experiments show the proposed method can help users to walk around and exercise their legs simultaneously and effectively.