Communication systems based on chaotic synchronization are gaining interest in the area of secure and covert data transmission. In this paper, a novel digital communication technique based on a coherent chaotic data transmission approach is proposed. In general, this technique resembles the well-known approach based on the modulation of nonlinearity parameters. The key idea of this study is to modulate a signal by varying not the system parameter but the symmetry coefficient in discrete chaotic models obtained by the special numerical integration method. For this purpose, the self-adjoint semi-implicit integration method of order 2 is used to obtain discrete master and slave models of the considered chaotic oscillator. The experimental results explicitly show that, like during parameter modulation, transmitting and receiving oscillators may completely synchronize only if the symmetry coefficients are equal in both systems. The architecture of the communication system based on the proposed modulation is presented. The practical applicability of the approach is confirmed by transmitting a test binary sequence between the transmitter and receiver models and preliminary benchmarking of the obtained communication system. Since the symmetry coefficient modulation does not significantly impact the chaotic behavior of the transmitting digital system, its better suitability for covert messaging was experimentally confirmed by comparing it with the parameter modulation technique.