A method for transmitting and receiving a message for a random access (RA) between user equipment (UE) and a base station in a multi beam system includes: transmitting a synchronization signal (SS) block including a synchronization signal by performing beam sweeping for a multi beam; receiving a message 1 of an RA procedure from the UE; determining an optimal transmission beam to be used to transmit a message 2 of the RA procedure based on information about an association mapping between the SS block and a physical random access channel (PRACH) which is used to transmit the message 1; and transmitting the message 2 by using the optimal transmission beam.