A method of establishing a connection for direct communication between terminals, performed in a terminal, may comprise transmitting a sensing signal or a sidelink discovery signal; transmitting sidelink discovery information; receiving a response to the sidelink discovery signal or the sidelink discovery information from a peer terminal; determining a cast type for the peer terminal, and establishing a PCS-radio resource control (RRC) connection with the peer terminal when the cast type is determined to be a unicast scheme or groupcast scheme; and performing direct communication with the peer terminal.