Embodiments of the disclosure provide methods and systems for sidelink resource allocation in user equipment (UE) groups. The method includes, receiving, by a UE, from a radio access network (RAN) node, a first resource configuration message including configuration information for sidelink resources indicated by a sidelink resource grant and conditions for using sidelink resources of the sidelink resource grant. The method further includes receiving, from a second UE of the UE group, a second sidelink resource configuration message, the second sidelink resource configuration message including an activation indicator to activate at least a portion of the sidelink resources indicated by the sidelink resource grant. The method further includes determining the sidelink resources to be used for sidelink transmissions by combining the first and second sidelink resource configuration messages. The method further includes using the determined sidelink resources for data transmissions. Other embodiments of the disclosure provide for a method of performing UE group handover (HO), by a UE.