A first terminal device for use with a wireless telecommunications system, the first terminal device comprising: a transceiver operable to exchange signalling with a second terminal device using communication resources from within one of a plurality of sets of communication resources, each set of communication resources being associated with a different respective range of possible speeds of the first terminal device, the association being determined in accordance with a predetermined characteristic of the sets of communication resources; and a controller operable to control the transceiver to exchange signalling with the second terminal device using communication resources from within the set of communication resources associated with the range of possible speeds of the first terminal device within which a determined speed of the first terminal device is found.