A method for recovering from Sidelink relay failure is provided. A relay User Equipment (UE) detects a Radio Link Failure (RLF) or a Handover (HO) failure associated with a first base station when providing a relay service for a remote UE to indirectly communicate with the first base station. The relay UE sends a first command to the remote UE to indicate suspension of the relay service. The relay UE performs a Radio Resource Control (RRC) re-establishment procedure with the first base station or a second base station based on a cell search result. The relay UE sends a second command to the remote UE to indicate that the relay service is associated with the first base station or the second base station with which the RRC re-establishment procedure is performed.