Methods, a base station, and a terminal device for two-step random access procedure are disclosed. The base station transmits a signalling message indicating a waveform of a physical uplink shared channel (PUSCH) without including a waveform of a preamble which is to be used for message A in two-step random access procedure, through an air interface. The base station receives the message A using the waveform of the PUSCH through the air interface in two-step random access procedure.