Catalysis of the reactions: (1) ATP + cholate + CoA = AMP + diphosphate + choloyl-CoA and (2) ATP + (25R)-3alpha,7alpha,12alpha-trihydroxy-5beta-cholestan-26-oate + CoA = AMP + diphosphate + (25R)-3alpha,7alpha,12alpha-trihydroxy-5beta-cholestanoyl-CoA.