A method for operating a user equipment (UE) includes detecting a failure of a first link between the UE and an access node, and based thereon, detecting a second link between the UE and the access node, sending, to the access node, a beam failure recovery request (BFRQ) on one or more physical random access channel (PRACH) resources associated a third link conveying a reference signal, wherein the third link and the second link are quasi co-located (QCLed), wherein the BFRQ includes a group identifier associated with a UE group including the UE, and monitoring one or more PRACH response opportunities associated with the one or more PRACH resources for a beam failure recovery response (BFRP).