Recent rapid developments of high-speed wireless access technologies cause WLAN environments where QoS supported APs and not QoS supported APs are mixed. To provide optimal QoS guarantee in this mixed environment, this paper proposes AP selection agent system and its selection algorithm for mixed environment. In the system, agents equipped on some servers, APs and STAs in a network which cooperate with each other via SIP to provide optimal QoS and user oriented services. The proposed algorithm realizes an AP selection for a STA according to its required QoS and traffic load in an overall WLAN service area. Simulation results show improvement in the throughput and frequency utilization efficiency compared to conventional algorithms.