A communication method in a wireless communication system supporting device-to-device (D2D) communication is provided. The communication method includes transmitting a first message including information for identifying a relay to discover a relay user equipment (UE) that performs a relay function in the D2D communication, and receiving a second message including information about the relay UE that performs the relay function, from the relay UE that has received the first message, the second message being transmitted in response to the first message.