Apparatuses and methods for multi-stage UL precoding are provided. The method includes receiving configuration information about resource allocation for an uplink (UL) transmission, the configuration information indicating: allocated resources for an UL transmission, and UL precoding information for the UL transmission on the allocated resources, wherein the UL precoding information indicates: an update precoding matrix V, and basis vectors and coefficients for the update precoding matrix V; determining an UL precoding matrix for the UL transmission based on the update precoding matrix V and a previous UL precoding matrix; and performing UL transmission on the allocated resources using the UL precoding matrix.