A system and method for wireless communication is disclosed. One aspect of the system includes wireless devices, wherein the wireless devices are capable of establishing a peer-to-peer link by contention-based channel access, and wherein the wireless devices are free to contend any time for accessing a wireless channel. The system may include first and second wireless devices, each of which has a directional antenna system. The first wireless device can determine whether the wireless channel is available for establishing a peer-to-peer link, by repeating sensing whether the channel is idle in different directions each during different slot time periods. The first wireless device can also sequentially transmit multiple requests each in different directions for establishing a link with the second wireless device. The second wireless device can sequentially transmit multiple replies each in different directions for establishing the link with the first wireless device.