We evaluated the effect of haptic coordination on anxiety and arousal. Participants looked at a stressful or calming picture and then repeatedly squeezed a vibrating stress ball for 20 s. Using a pre-post paradigm with a control group, we showed that squeezing the vibrating ball reduced anxiety and arousal, as assessed by the State-Trait Anxiety Inventory and electrodermal activity, respectively. The stability of haptic coordination was manipulated by varying the detuning between the preferred squeezing frequency and the intrinsic frequency of ball vibration. Coordination stability affected arousal and stress affected stability. The data were discussed in the light of Kahneman's attentional resource sharing model.