This application provides a communication method, a communication apparatus, and a terminal device. The method includes: A first node receives a first message of a terminal device, where the first message is used to request to associate with the first node. The first node obtains information about a second node, where the second node is a group header of an upper layer group in which the terminal device is located. The first node performs data transmission as a relay between the terminal device and the second node. According to a solution provided in this application, the terminal device can perform normal communication.