Thirty thousand supporters turned out to watch Wales draw 0-0 with Bosnia-Herzegovina at the Cardiff City Stadium on Friday, but they have played just once at the 74,500 capacity Millennium Stadium in the last five years due to poor attendances.
"People talk about being at the Millennium Stadium again and playing in front of 75,000 people, [but] there's only one way we're going to get the supporters back," Coleman told Sky Sports News.
"You can have as many schemes as you like, get the kids in for free which is great, and do all the deals, but we'll get back to the Millennium Stadium when we're winning games continuously at the right end of the campaign and at the right end of a group.
"That's when it all starts happening again and we're on the road to that. We've lost one in seven so we're on a decent run and we've got to keep it going.
"What we've done in the last 12 to 18 months we've got to do in the next 12 to 18 months and if we do that we'll be at the right end of the campaign. That's when maybe 30,000 is not big enough and that's when you go back to the Millennium."