A system for scheduling prioritized traffic in a scrambled and coded multiple access (SCMA) system multiple terminals and a gateway. Each terminal is configured to receive packets from user devices and place the packets on various input queues. The packets are en-queued onto a plurality of output queues based on priority or service class. The terminal is further configured to detect one or more available SCMA slots within a frame of a communication system, and de-queue packets from the highest priority output queue onto the frame via one or more SCMA bursts. The terminal includes transceiver for transmitting/receiving frames of the communication system to/from the gateway. The terminals autonomously transmit SCMA bursts relative to each other.