Accurate parameter estimation such as angle of arrival (AoA) is essential to enhance the performance of integrated sensing and communication (ISAC) in mmWave multiple-input multiple-output (MIMO) systems. This work presents a sensingaided communication channel estimation mechanism, where the sensing channel shares the same AoA with the uplink communication channel. First, we propose a novel orthogonal matching pursuit (OMP)-based method for coarsely estimating the AoA in a sensing channel, offering improved accuracy compared to conventional methods that rely on rotational invariance techniques. Next, we refine the coarse estimates obtained in the first step by modifying the Space-Alternating Generalized Expectation-Maximization algorithm for fine parameter estimation. Through simulations and mathematical analysis, we demonstrate that scenarios with shared AOA achieve a better Cramér-Rao lower bound (CRLB) than those without sharing. This finding highlights the potential of leveraging joint sensing and communication channels to enhance parameter estimation accuracy, particularly in channel or location estimation applications.