A method of user equipment (UE) for beam management in a wireless communication system comprises receiving, from a base station (BS), at least two groups of Tx beams comprising transmit (Tx) signals generated from different antenna panels, the at least two groups of Tx beams transmitted through reference signals; receiving, from the BS, configuration information including a selection constraint for the at least two groups of Tx beams; measuring, based on the configuration information, at least one beam from each of the at least two groups of beams; selecting at least one Tx beam from each of the at least two groups and a same Rx beam set as an Rx beam corresponding to respective selected Tx beams; and transmitting, to the BS, a reporting message including information of the selected Tx beams and the selected same Rx beam set corresponding to the Rx beam.