A User Equipment (UE) including a wireless transceiver and a controller is provided. The wireless transceiver performs wireless transmission and reception to and from a cellular station. The controller selects a downlink reference signal associated with a candidate beam among a plurality of downlink reference signals including Channel State Information-Reference Signal (CSI-RS) resources, Synchronization Signal (SS) blocks, or Physical Broadcast Channel (PBCH) blocks, and determines one from a plurality sets of Physical Random Access Channel (PRACH) preambles and RACH occasions for the selected downlink reference signal according to an association configured between the downlink reference signals and PRACH resources. Also, the controller uses the determined set of PRACH preamble and RACH occasion to perform a PRACH transmission to the cellular station via the wireless transceiver.