Various embodiments provide a method for performing beam sweeping by a user equipment (UE) in a wireless communication system supporting a sidelink, and a device therefor. Disclosed are a method for performing beam sweeping and a device therefor, the method comprising the steps of: forming a first group for performing the beam sweeping; receiving group information related to the first group; and performing beam sweeping on the basis of the group information, wherein the group information includes area allocation information for a plurality of areas divided on the basis of the number of a plurality of beams that can be formed by UEs included in the first group, and the beam sweeping is performed only within a first area, which has been pre-configured in response to the UEs, from among the plurality of areas.