A method for regenerating a lean NOx trap (LNT) of an exhaust purification system having the LNT and a selective catalytic reduction (SCR) catalyst includes determining whether a regeneration release condition of the LNT is satisfied; determining whether a regeneration demand condition of the LNT is satisfied; and performing regeneration of the LNT if the regeneration release condition of the LNT and the regeneration demand condition of the LNT are satisfied, wherein satisfaction of the regeneration release condition of the LNT is determined based on an NOx amount absorbed in the LNT, an NH3 amount stored in the SCR catalyst and temperature at an upstream of the SCR catalyst.