:- use_module(library(lists)).
:- use_module(library(lambda)).

ch2(A,B):-maplist(\X^Y^nth0(X,A,Y),A,B).

?- ch2([0, 2, 1, 5, 3, 4],[0, 1, 2, 4, 5, 3]).
?- ch2([5, 0, 1, 2, 3, 4],[4, 5, 0, 1, 2, 3]).