A method of performing communication between a wireless power transmitter and a wireless power receiver, which includes performing load detection by detecting wireless power provided by the wireless power transmitter being applied to the wireless power receiver; setting up a common channel having a predetermined first frequency for establishing a connection with the wireless power receiver, which is performed by the wireless power transmitter; establishing the connection with the wireless power receiver using the common channel; determining, from among available channels, a selection channel having an optimal condition for communicating with the wireless power receiver and a predetermined second frequency through use of the common channel; and performing data transmission and reception with the wireless power receiver through the selection channel.