Method and apparatus for configuring sidelink communication in a wireless communication system

A first UE (User Equipment), comprising:

• a processor;
• and
• a memory operatively coupled to the processor, wherein the processor is configured to execute a program code to:
• transmit a first PC5-S message to establish a unicast link with a second UE;
• receive a second PC5-S message from the second UE to complete establishment of the unicast link;
• transmit a first PC5 RRC (Radio Resource Control) message to the second UE, including configuration information;
• receive a second PC5 RRC failure message directly from the second UE to indicate the second UE cannot comply with the configuration information;
• and
• transmit a RRC message to a network node to indicate a configuration failure in response to reception of the second PC5 RRC failure message, wherein the RRC message includes a specific failure cause value.