Disclosed are an interworking system between IP networks using different IP address format, an application layer gateway (ALG) server, a network address translator, an interworking method, and a SIP message routing method. The interworking system between a local network using a private IP and a public network using a public IP includes a STUN server and an application layer gateway (ALG) server. The STUN server provides binding information of header information of a public IP binding request. The application layer gateway (ALG) server performs a public IP binding request with header information changed by IP masquerading, and performs routing by applying the received binding information to media receiving address information of a SIP message.