This paper presents a novel method to realize station-keeping and control attitude motion simultaneously on a libration point orbit based on the nonlinear output regulation. First, the coupled orbit-attitude motion of a rigid spacecraft subject to three-body dynamics is formulated using the quaternion. Next, the reference orbit and attitude are represented as the output of an autonomous system called exosystem, assuming the reference orbit and attitude are given by a truncated Fourier series. Then the controller is derived by solving the output regulation problem. The derived controller has the explicit form and can achieve the asymptotically tracking for any reference orbit and attitude represented in the Fourier series. The proposed controllers are applied and verified for the Sun-pointing attitude control and station-keeping along Sun-Earth L2 Halo orbits.