[Object] To provide a wireless link usable in a more stable manner in a situation where beam management is performed. A communication apparatus includes: a control unit that performs control such that a plurality of reference signals associated with pieces of antenna information different from each other is transmitted to a terminal apparatus; and an acquisition unit that acquires control information corresponding to at least any one of the plurality of reference signals from the terminal apparatus after a random access response in a random access procedure is transmitted to the terminal apparatus. The control unit controls following communication with the terminal apparatus on the basis of the antenna information corresponding to the acquired control information.