A method for resetting configuration, comprising: performing, by a first terminal device, sidelink communication with a second terminal device using a first configuration; receiving, by the first terminal device, a second configuration and reset configuration indication information from the second terminal device; and releasing, by the first terminal device, the first configuration according to the reset configuration indication information, and performing, by the first terminal device, sidelink communication with the second terminal device using the second configuration, characterized in that, the method further comprises: acquiring, by the first terminal device, a third configuration, wherein the second configuration is used for sidelink communication in a first direction, and the third configuration is used for sidelink communication in a second direction; and establishing, by the first terminal device, a first bearer and a second bearer between the first terminal device and the second terminal device according to the second configuration and the third configuration, wherein the first bearer is used for sidelink communication in the first direction, and the second bearer is used for sidelink communication in the second direction, the first direction being a transmission direction in which the second terminal device transmits to the first terminal device, and the second direction being a receiving direction in which the second terminal device receives from the first terminal device. performing, by a first terminal device, sidelink communication with a second terminal device using a first configuration; receiving, by the first terminal device, a second configuration and reset configuration indication information from the second terminal device; and releasing, by the first terminal device, the first configuration according to the reset configuration indication information, and performing, by the first terminal device, sidelink communication with the second terminal device using the second configuration, characterized in that, the method further comprises: acquiring, by the first terminal device, a third configuration, wherein the second configuration is used for sidelink communication in a first direction, and the third configuration is used for sidelink communication in a second direction; and establishing, by the first terminal device, a first bearer and a second bearer between the first terminal device and the second terminal device according to the second configuration and the third configuration, wherein the first bearer is used for sidelink communication in the first direction, and the second bearer is used for sidelink communication in the second direction, the first direction being a transmission direction in which the second terminal device transmits to the first terminal device, and the second direction being a receiving direction in which the second terminal device receives from the first terminal device. acquiring, by the first terminal device, a third configuration, wherein the second configuration is used for sidelink communication in a first direction, and the third configuration is used for sidelink communication in a second direction; and establishing, by the first terminal device, a first bearer and a second bearer between the first terminal device and the second terminal device according to the second configuration and the third configuration, wherein the first bearer is used for sidelink communication in the first direction, and the second bearer is used for sidelink communication in the second direction, the first direction being a transmission direction in which the second terminal device transmits to the first terminal device, and the second direction being a receiving direction in which the second terminal device receives from the first terminal device.