We propose an algorithm for the constrained design of FIR filters with sparse coefficients. In general filter design approaches, as the length of the filter increases, the number of multipliers used to construct the filter increases. This is a serious problem, especially in two-dimensional FIR filter designs. The FIR filter coefficients designed by the least-squares method with peak error constraint are optimal in the sense of least-squares within a given order, but not necessarily optimal in terms of constructing a filter that meets the design specification under the constraints on the number of coefficients. That is, a higher-order filter with several zero coefficients can construct a filter that meets the specification with a smaller number of multipliers. We propose a two-step approach to design constrained sparse FIR filters. Our method minimizes the number of non-zero coefficients while the frequency response of the filter that meets the design specification. It achieves better performance in terms of peak error than conventional constrained least-squares designs with the same or higher number of multipliers in both one-dimensional and two-dimensional filter designs.