A radio communication system including a first terminal apparatus group for performing a reception by using a first radio resource and a transmission by using a second radio resource; and a second terminal apparatus group for performing the reception by using the second radio resource and the transmission by using the first radio resource, for performing a direct radio communication. The system includes a first terminal which belongs to the first terminal apparatus group and transmits allocation request of transmission band in the second radio resource by using the second radio resource; and a second terminal which belongs to the second terminal apparatus group, receives the allocation request transmitted from the first terminal, and transmits information indicating allocation of the transmission band for the first terminal, wherein the first terminal transmits data by using the allocated transmission band in the second radio resource.