A system and method for random access configurations are disclosed herein. In one embodiment, a method performed by a communication device includes: defining, based on a parameter for communication with a communication node, at least one of: a plurality of random access channel (RACH) groups, and a relationship between individual RACH groups of the plurality of RACH groups and measurement results; obtaining the measurement results from a plurality of signals; determining a matching RACH group from the plurality of RACH groups based on the measurement results; and sending a message using at least one resource of the matching RACH group.