A radio communication apparatus for transmitting and receiving a plurality of frames to and from another radio communication apparatus, comprises a first transmitting unit configured to sequentially transmit a plurality of frames at a plurality of transmission rates to the another radio communication apparatus, a second transmitting unit configured to transmit, to the another radio communication apparatus, an inquiry signal for inquiring which frames included in the frames are received by the another radio communication apparatus, a receiving unit configured to receive, from the another radio communication apparatus, information indicating which frames included in the frames are received or fail to be received, and a rate setting unit configured to set the first transmitting unit to a transmission rate used for next transmission of frames to the another radio communication apparatus, based on the received information.