A position alignment method for wireless charging performed by a VA for position alignment with a target GA is provided. The method includes identifying states of a plurality of GAs via wireless communication with an SECC that operates the plurality of GAs and receiving, from the SECC, information regarding one or more available GAs of the plurality of GAs. A target GA based is selected on the information regarding available GAs and a wireless communication association with the target GA is performed. A procedure for position alignment approval and a procedure for authentication is executed by a request to the SECC and in response to determining that the authentication is successful, position alignment with the target GA using LF signals is performed, wherein LF signals assigned to each GA are distinguished from LF signals assigned to other GAs in a TDM scheme.