A communication apparatus includes a control unit configured to, when a sidelink control channel and a sidelink shared channel are to be frequency-division multiplexed, map a demodulation reference signal for the sidelink shared channel onto a symbol onto which a demodulation reference signal for the sidelink control channel is mapped; and a transmitting unit configured to transmit the symbol onto which the demodulation reference signal for the sidelink control channel and the demodulation reference signal for the sidelink shared channel are mapped.