Coexistence between ZigBee and Wi-Fi technologies, which operate within the same frequency band, is increasing with the widespread use of the IoT (Internet of Things). ZigBee devices suffer significant decreases in the sink arrival rate of packets in the presence of Wi-Fi interference. To overcome this problem, many channel control methods have been proposed. These methods switch only ZigBee channels to avoid interference with Wi-Fi. In contrast, we propose a cooperative channel control method for improving ZigBee packet arrival rate by controlling both the Wi-Fi and ZigBee channels. Specifically, the proposed method not only controls ZigBee devices and channels but also requests a temporary pause in the use of specific Wi-Fi channels. Finally, computer simulations show the effectiveness of the proposed method from the viewpoints of ZigBee's packet arrival rate and applications' satisfaction. In addition, the feasibility of the proposed method is also confirmed by experiments with prototyping.