Industrial applications with closed-loop control demand ultra-reliable, low-latency communication in fixed and mobile networks. Integrating Time-Sensitive Networking (TSN) with 5G offers a promising solution. However, coordinating prioritization across two different networks is challenging. This paper demonstrates an integrated 5G-TSN solution for end-to-end traffic prioritization. To demonstrate closed-loop stabilization, we employ inverted pendulums, stabilized by controllers over 5G networks. Our solution ensures prioritization by TSN in the wired domain and by 5G Quality-of-Service (QoS) mechanisms in the wireless domain.