Provided are a method and a device for performing device-to-device communication by sharing an uplink resource and a sidelink resource in a wireless communication system. Particularly, a first terminal receives, from a base station, beam scanning signals and a first threshold value. The first terminal generates first reception beam information including beam information of a signal received at a signal intensity greater than or equal to the first threshold value, among the beam scanning signals. The first terminal receives second reception beam information from the base station. The second reception beam information includes beam information of a first uplink signal received by the base station from a second terminal. The first terminal transmits a sidelink signal through the sidelink resource by using a beam obtained by excluding a third reception beam from a first reception beam. The third reception beam is a beam of the first terminal for receiving a signal transmitted using a transmission beam of the base station in the same direction as a second reception beam. The sidelink resource is overlapped with the uplink resource in time and frequency domains.