A method for a transmitting user equipment supporting sidelink, the method comprising: obtaining, by the transmitting user equipment, synchronization for the sidelink; transmitting, by the transmitting user equipment, first control information for the sidelink to a receiving user equipment through the sidelink, based on a plurality of transmit, TX, beams, wherein the first control information is transmitted to the receiving user equipment through the plurality of receive, RX, beams of the receiving user equipment; receiving, by the transmitting user equipment, TX beam information related to at least one of the plurality of TX beams from the receiving user equipment; and transmitting, by the transmitting user equipment, sidelink data and second control information to the receiving user equipment through at least one of the plurality of TX beams, based on the TX beam information, wherein the second control information is piggy-backed with the sidelink data to a radio resource region not used for the sidelink data and transmitted to the receiving user equipment, wherein the first control information includes an identification, ID, of the transmitting user equipment, an ID of the receiving user equipment, information on a resource for the reception of the TX beam information, and information on a resource for the transmission of the second control information, and wherein the second control information, which is different from the first control information, includes information on a resource block position of a sidelink data channel transmitted by the transmitting user equipment in a same time unit or a succeeding time unit for the second control information and information on at least one of a modulation coding scheme, MCS, a multiple input multiple output, MIMO, transmission scheme or a timing advance. obtaining, by the transmitting user equipment, synchronization for the sidelink; transmitting, by the transmitting user equipment, first control information for the sidelink to a receiving user equipment through the sidelink, based on a plurality of transmit, TX, beams, wherein the first control information is transmitted to the receiving user equipment through the plurality of receive, RX, beams of the receiving user equipment; receiving, by the transmitting user equipment, TX beam information related to at least one of the plurality of TX beams from the receiving user equipment; and transmitting, by the transmitting user equipment, sidelink data and second control information to the receiving user equipment through at least one of the plurality of TX beams, based on the TX beam information, wherein the second control information is piggy-backed with the sidelink data to a radio resource region not used for the sidelink data and transmitted to the receiving user equipment, wherein the first control information includes an identification, ID, of the transmitting user equipment, an ID of the receiving user equipment, information on a resource for the reception of the TX beam information, and information on a resource for the transmission of the second control information, and wherein the second control information, which is different from the first control information, includes information on a resource block position of a sidelink data channel transmitted by the transmitting user equipment in a same time unit or a succeeding time unit for the second control information and information on at least one of a modulation coding scheme, MCS, a multiple input multiple output, MIMO, transmission scheme or a timing advance.