Utility infrastructures in Indonesia are located in and adjacent to the road, i.e., power cable, fiber optic for telecommunication, and water pipes. Those facilities form a system within the road. Currently, stakeholders work without concern for others’ assets causing damage to the infrastructure nearby. The road authority needs to coordinate these stakeholders in the development process. However, such a system has not been established yet in Indonesia. This paper aims to develop a coordination system among stakeholders by identifying activities conducted during annual development program planning and implementation in the region. This study uses the IDEFØ technique to explain how stakeholders’ activities and processes interact with each other in a structured way. The IDEFØ model is used to produce a lifecycle-based framework where stakeholders interact and are interdependent under the road authority. The study found 6 (six) interface coordination points to be coordinated by the road authority to ensure good communication, share information, and determine responsibility among stakeholders in the public right of way. Interface coordination points establish a coordination system structure that serves as the operation procedure for all stakeholders working on the road.