A method performed by a User Equipment (UE) for Beam Failure Recovery (BFR) is provided. The method includes the UE detecting a beam failure event on a serving cell, and initiating a Random Access (RA) procedure for BFR on a Bandwidth Part (BWP) of the serving cell. The RA procedure for BFR includes performing an RA type selection after determining that the UE is not configured with any Contention-Free RA (CFRA) resource for BFR, the RA type selection including determining a 2-step RA type or a 4-step RA type as an RA type of the RA procedure for BFR based on a Reference Signal Received Power (RSRP) value of a Downlink (DL) pathloss reference, skipping performing the RA type selection after determining that the UE is configured with a CFRA resource for BFR, and determining the RA type as the 4-step RA type after skipping the RA type selection.