A radio communication system includes a plurality of radio communication apparatuses including an active scan terminal and a passive scan terminal. After transmitting a probe request frame from one frequency channel, the active scan terminal continuously transmits the probe request frame from other frequency channels without waiting for a response frame from the other radio communication apparatuses, thereafter transmits the probe request frame from a response channel, which is a waiting channel, and waits for a response from the passive scan terminal, and superimposes, on the probe request frame, information concerning an offset time to the response and information concerning the response channel, and, after receiving the probe request frame, after the elapse of the offset time to the response, the passive scan terminal transmits a response frame from a frequency channel designated by the response channel information.