The present disclosure provides a method whereby a terminal transmits and receives signals for carrying out a random access channel (RACH) procedure in a wireless communication system. In particular, the method comprises: receiving first information about a transform precoder related to a physical uplink shared channel (PUSCH) transmitted via message A; on the basis of the first information, transmitting message A including the PUSCH and a physical random access channel (PRACH); and in response to message A, receiving message B including contention resolution information, wherein the first information may be used to indicate transform precoding for the PUSCH on the basis that the PUSCH is transmitted via message A.