This specification relates to a method for performing discovery in a wireless communication system. The method is performed by a first device, and includes turning on a direction-based discovery mode, obtains a first direction information related to a user from a second device, wherein the first direction information is information indicative of the progress direction of the user or the view direction of the user, exchanges a second direction information related to the locations of one or more peripheral devices with a third device, and performs discovery for a peripheral device existing in a specific direction among the peripheral devices based on the first direction information and the second direction information.