Recent experimental studies suggest that there is evidence for a synchronization between human heartbeat and respiration. We develop a physiologically plausible model for this cardiorespiratory synchronization, and numerically show that the model can exhibit stable synchronization against given perturbations. In our model, in addition to the well-known influence of respiration on heartbeat, the influence of heartbeat (and hence blood pressure) on respiration is also important for cardiorespiratory synchronization.