This application provides a communication method and a communications apparatus. The communication method includes: a first terminal device determines a first parameter, where the first parameter is used to indicate a parameter of a sensing window, a parameter of a resource selection window, and/or a parameter of a first time window, and the first time window includes the sensing window and the resource selection window. The first terminal device determines a first resource pool from at least one resource pool based on the first parameter. The first terminal device selects a first resource from the first resource pool. The first terminal device transmits sidelink information on the first resource. According to the method provided in embodiments of this application, a data transmission delay can be reduced and system communication efficiency can be improved.