In distributed computing systems, processes in different hosts take checkpoints to survive failures. For mobile computing systems, due to certain new characteristics conventional distributed checkpointing schemes need to be reconsidered. In this paper, we propose a low-cost coordinated checkpointing algorithm. During normal computation message transmission, the checkpoint dependency information among mobile hosts is recorded in the corresponding mobile support stations. When a checkpointing procedure begins, the initiator concurrently informs relevant mobile hosts, which minimizes the identifying time. Moreover, compared with existing coordinated checkpointing schemes, our algorithm blocks the minimum number of mobile support stations during the identifying procedure. Experimental simulation shows that the proposed algorithm outperforms other coordinated checkpointing schemes and can provide a better system performance for mobile computing systems.