Method and apparatus for on demand assistance for sidelink communication. The apparatus receives, from a base station, an AN configuration for one or more ANs associated with the base station. The apparatus transmits, to the base station, an AR to request assistance with communication with a second UE from at least one AN associated with the base station. The apparatus receives, from the base station, a grant to schedule sidelink transmission with the second UE. The sidelink transmission with the second UE is assisted by at least one AN of the one or more ANs associated with the base station. The apparatus communicates via sidelink communication with the second UE, via the at least one AN, using allocated resources of the grant from the base station.