A system and method for communication between devices are provided. According to the embodiments of the present disclosure, it is possible to easily authenticate a counterpart device using a one-time key HN(T) for a D2D communication between a first device and a second device, without using a separate secure channel (e.g., secure sockets layer (SSL), transport layer security (TLS), or the like) in an environment where it is difficult to synchronize the first device with the second device without intervention of a server.