We theoretically investigate coupled gyration modes of magnetic solitons whose distances to the nearest neighbors are staggered. In a one-dimensional bipartite lattice, we analytically and numerically find that there is a midgap gyration mode bounded at the domain wall connecting topologically distinct two phases which is analogous to the Su-Schrieffer-Heeger model. As a technological application, we show that a one-dimensional domain-wall string in a two-dimensional soliton lattice can serve as a waveguide of magnetic excitations, which offers functionalities of a signal localization and selective propagation of the frequency modes. Our result offers an alternative way to control the magnetic excitation modes by using a magnetic metamaterial for future spintronic devices.