Method and device for exchanging messages in a VLC navigation system is provided, in which a map server generates a provision message in the form of visible light signals through all lamps in an area, using a PLC network, where a navigation service is provided, a terminal that wants to implement the navigation service among terminals that have received the provision message transmits a registration request message to the map server, the map server transmits a registration response message for the registration request message to the terminal, the terminal transmits a map request message including information about a destination to the map server, the map server transmits a map response message including information about a path to the destination to the terminal, and the terminal displays map information and the path.