A first terminal receives a first Timing Advance (TA) value from a base station and includes a second TA value that is obtained based on the first TA value in a Scheduling Assignment (SA) signal. The first terminal transmits the SA signal to a second terminal at downlink (DL) timing for receiving a downlink signal of the base station in cellular communication. When a length of a Cyclic Prefix (CP) that is set for the D2D communication and a length of a CP that is set for the cellular communication are different, the first terminal transmits data of the D2D communication to the second terminal at first timing that is obtained by applying the second TA value to the DL timing.