This application provides a communication method and a communication apparatus, so that sidelink signaling can be used for transmission of AS configuration information. Specifically, a first terminal device obtains a source identifier allocated to groupcast communication by a second terminal device, where the groupcast communication is communication for a target group, and the first terminal device and the second terminal device belong to the target group. A V2X layer of the first terminal device generates first sidelink signaling, and sends the first sidelink signaling, a first identifier, and a group identifier to an AS of the first terminal device, where the first identifier is a source identifier allocated to the groupcast communication by the first terminal device, and the group identifier is used to identify the target group. The AS sends the first sidelink signaling by using the first identifier as a source identifier and using the group identifier as a destination identifier.