An embodiment method includes discovering, by a user equipment (UE), a plurality of UE-to-Network relays available to the first UE. The UE is located outside a coverage area of a wireless communications network. The method includes receiving, by the first UE, one or more capacity indications from the plurality of UE-to-Network relays and selecting, by the first UE, a first UE-to-Network relay from the plurality of UE-to-Network relays to connect to the wireless communications network in accordance with a relay selection policy and the one or more capacity indications. The method includes connecting, by the first UE, to the first UE-to-Network relay using direct mode communications.