It's not something I do very often because I have never had much trouble with coordination. However, what I would do is play some pattern with the left hand (anything reasonably involved, say an alternating scale 5,3,4,2,3,1... up and down say, which has a period of a certain number of notes) I would play simultaneously a pattern with my right hand (again , anything will do depending on how hard I wanted it to be) with a different period. After a number of cycles equal to the lowest common multiple of the periods I should end in the position I started with.
As a very simple example, an alternating five-finger exercise has a period of 10 notes and an ordinary one has a period of 8 notes. Therefore you should come back to the starting position after 40 notes.
It's just a thing I invented for myself. I don't do it all the time, just if I feel I'm getting a bit sloppy. Aside from the very simple cases, once you start combining different patterns, different fingerings, different accents and different keys, it's actually a very tough exercise.