A communication method and apparatus are provided, to implement automatic onboarding when no network-side information is configured on a terminal device. The method includes: The terminal device obtains auxiliary authentication information that includes identification information of one or more networks; determines access information of a first network based on first temporary authentication information and identification information of the first network, where the first network is any one of the one or more networks; triggers mutual temporary authentication with the first network based on the access information of the first network; and receives configuration information of the first network from the first network when the mutual temporary authentication succeeds. The terminal device may trigger the mutual temporary authentication with the first network based on the access information of the first network.