A method of providing service continuity between cellular communication and device-to-device communication is disclosed. A procedure for switching between cellular communication and device-to-device communication according to an example embodiment of the present invention may include transferring, by a gateway, a D2D bearer creation request message to an MME, transferring, by the MME, the D2D bearer creation request message to a base station, mapping, by the base station, D2D bearer QoS to D2D radio bearer QoS and transmitting an RRC connection reconfiguration message to terminals, receiving, by the base station, an RRC connection reconfiguration completion message indicating creation of a D2D radio bearer from the terminals, transmitting, by the base station, a D2D bearer creation response message indicating creation of a D2D bearer to the MME, and transferring, by the MME, the D2D bearer creation response message to the gateway.