Provided are a method and equipment for performing device-to-device communication by sharing an uplink resource and a sidelink resource in a wireless communication system. Particularly, a first terminal transmits a reference signal to a base station. The first terminal receives a downlink control signal from the base station. The downlink control signal includes beam limiting information indicating a beam, which is not used for reducing interference with an uplink signal, when the first terminal transmits a sidelink signal. The first terminal transmits the sidelink signal to a second terminal by using beams excluding the beam indicated by the beam limiting information. The sidelink signal is transmitted through a resource pool in which the uplink resource and the sidelink resource are overlapped in time and frequency domains.