As I understand it, soaker hoses and drip systems are much lower pressure systems than sprinkler systems. It's mechanically easy to tap in to a sprinkler system, but you'll need to include a pressure regulator between the sprinkler system and the soaker hose. This can be as simple as a pin-hole disk which you insert into the female end of the soaker hose, or as complicated as a $5 regulator that simply screws inline between soaker and source.

The big problem is that a sprinkler system should only run usually 15-20 min with a high volume of water but a soaker should run a few hours at a very low volume. Perhaps try to find the maximum output soaker or run 2 in parellel. I think my soaker is just .5 or 1 gal per hour at each hole.

or use a dedicated zone for the drip, than you can program that station for as long or short as you'd like.

course this would involve running a line with pressure regulator as mentioned above and adding another valve